Flushing your system really is necessary, especially if you've got old cast iron radiators - they tend to accumulate rust, scale, and all sorts of sediment inside. How do you know it's time? The main signs are radiators heating unevenly (top hot, bottom cold), or they're barely warm even when the boiler's working properly. You can also do a visual check: open the air vent on a radiator - if murky water comes out instead of clear, there's definitely stuff built up in there. If your system is new and sealed, you could skip it for five to seven years, but with your setup (old radiators, gas boiler), you should do a flush at least once every three to four years.
There are a few ways to do it. The simplest and gentlest is internal flushing with a special chemical that you pour straight into the system through the boiler. It's the cheapest option. Second option is hydroflushing (high-pressure water jet) - more expensive, but more effective if there's serious buildup. The most thorough way is to remove the radiators and flush each one separately, but that's more complicated and takes more time.
I can't say exactly what it costs, but roughly: chemical flushing in the system will run you a small amount plus labor if you call a technician. Hydroflushing is pricier. It all depends on your region and how complex your piping is. Better to call local service centers - they'll give you quotes. The main thing is, if you see clear signs, don't put it off, because later you might end up needing to replace radiators, and that's serious money.