@jblueridge,
Here are some of the YouTube videos that I found to be the best ones out there. These ones are put by our own MUD member Louis
@lshobie and he goes by PowerModz in YouTube:
Video 1:
Video 2:
If you are only doing the rotors, then your steps would go as far as removing the wheel hubs, and then fast forward on the second video to see the re-assembly of the whole wheel part.
Also, some of the videos for the rear axle and rear brakes from Louis as well
https://www.youtube.com/watch?v=5lmQE3_oiNQ
Louis' truck is a newer 5-lug wheel style, but the steps for our older 6-lug wheel ones are exactly the same. You will get an idea of the tools you will need by watching these videos. But it is nothing too special, except the big socket for the big nuts that hold the wheel hub. Other than that is a standard metric set, C-clip retainer pliers, punches, shop towels (lots of them), brake cleaner, and gloves (it is a little bit of a messy job).
EDIT: Add a torque wrench to the list of tools above
Hope this helps!
-Alberto