I've only adjusted toe. Pretty simple... in the picture below, there is a jam nut on the outer tie rod that locks the inner tie rod from spinning.
Loosen the jam nut, then turn the inner tie rod to help align the wheel.

The best garage alignment method I've found is to take 2 long pieces of angle aluminum or iron and hold it against the tire sidewalls (a bungee or ratchet strap around the angle and the wheel can work if you only have 1 person - otherwise it requires 3 people), so it spans across the center of the wheel and touches the sidewall fore and aft of the wheel. The angle needs to extend forward of the truck a good bit so you have room to measure.
Measure the distance from left aluminum angle to right aluminum angle in 2 locations - close to the truck and far away. Try to get those two measurements as close as possible.
It's always better to have a slight amount of toe-out... so the further measurement can be a little more than the closer measurement.
Hopefully that makes sense... hard to describe without pictures.
ETA:
Here's another similar home-made method. He measured in front and behind his wheel. Same basic idea.
ETA x2:
Camber can be adjusted with a level in the same method, but vertical. Be careful not to affect your caster though.