I don't know exactly for your Tacoma, but for a some other vehicles it's quite simple to replace the wheel bearings, especially on drum brakes.
Simple take the wheel off, adjust the brake shoes down until they are completely free from the drum. Figure out how to remove the drum. Once the drum is off pull the old bearings out and put the new ones in. Put the drum back on and readjust the brakes (that is the hardest part).
Your VERY BEST bet is to go to your local parts store and pick up a Chilton/Haynes repair book for your truck before you start. It will tell you what tools you need.
Your local library might have one you can check out if you don't care to own one, but it's best to own one, FYI.
Toyota tacoma wheel bearing Replacement ?
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