You could always order one from a dealership, but i found the one i purchased for my sienna on Ebay.
The Owners Manual says its 5 quarts.
5 30w of any kind of oil you like. This is from my 2001 Toyota Sienna Le manual book
The 2001 Toyota Sienna has a V6 engine.
The 2001 Toyota Sienna has 24 valves.
The 2001 Toyota Sienna has a 4-speed automatic.
The 2001 Toyota Sienna is a gas-powered vehicle.
The 2001 Toyota Sienna's turning circle is 40 ft..
The 2001 Toyota Sienna has a drag coefficient of .32 Cd.
The curb weight of the 2001 Toyota Sienna is 3919 lbs..
The 2001 Toyota Sienna is 16 ft. 2.2 in. (194.2 in.) long.
The height of the 2001 Toyota Sienna is 5 ft. 7.3 in. (67.3 in.).
The 2001 Toyota Sienna runs on regular unleaded.