Listed in your owner's manual. If you do not have one then you need to get one. I would change them at 100,000 miles unless the engine starts running poorly or your MPG goes down.
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Factory recommendation to change the spark plugs on a 2000 Toyota Avalon is 120.000 miles.
To change spark plugs on a 1994 Toyota Camry, remove the black shafts. The spark plugs are down the four holes. Use a socket set with extension to reach the spark plugs. Replace old spark plugs with new ones.
There is an article with video on how to change spark plugs at ; http://www.carbasics.co.uk Look in their 'how to' section.
You can change the spark plugs on the 1997 Toyota Tacoma yourself. Remove the ground wire and spark plug wire. Remove plug. Replace the plug with a plug made specially for your model car.
every 200,000 miles
Some people never change them. Overall practice to change spark plugs and its wires when you replace the timing belt.