Bard gives good advice. Haynes makes a good manual and so does
Chilton. I use a Chilton Toyota shop manual, part #(8163) 68602, and I
also have a Toyota D-I-Y Maintenance and Light Repair manual, part #
00400-DY001. Both manuals provide enough information to swap out your
pads safely.

Depending on your priorities, you may or may not be overly concerned
with brake pad build-up, or dust. I've got silver alloy wheels on my
S-Runner, and I wish I didn't have to wash them so frequently to keep
the brake pad dust off, but I must. My first priority is braking
performance--everything else is secondary. The pads I'm using deliver
terrific performance, and many other performance-minded Tacoma owners
agree. They're made by Performance Friction and you can buy a set at
Auto Zone for less than $40. They come with a lifetime guarantee. If
you do your own maintenance work, that means free brakes for life.
Their only downside is the amount of dust they produce.

Ask for part# 4334, and make sure it says "Perfomance Friction" on the
box.