Yes it can tow a car on a trailer. To be safe though, it really depends on the model of V6 Tundra you have - regular or double cab, the type of trailer, weight of towed vehicle, class of hitch, additional payload, etc.. Also, will it be flat towing or through hills as your engine and brakes are worked heavily on hills.
Spec wise, the regular cab has a 5100 lbs max tow capacity and the double cab has 4800 lbs. The links below provide the information you will need to tow safely.
www.toyota.com