I sure sounds like a coolant leak at the block heater plate. If you are looking up at the engine and it is about 3" left of the oil filter that's what is it. In extremely cold climates this port is were the block heater attaches, in most places it is just a bolted on plate with an RTV silicon material for gasketing. Here is great link on the subject:
http://www.toyotanation.com/forum/274-2nd-generation-2004-2010/330995-coolant-leak-plate-block-heater-2004-a.html
The 2001 Toyota Sienna has a V6 engine.
The 2014 Toyota Sienna has a V6 engine.
The 2003 Toyota Sienna has a V6 engine.
The 2013 Toyota Sienna has a V6 engine.
The 2002 Toyota Sienna has a V6 engine.
The 2006 Toyota Sienna has a V6 engine.
The 2010 Toyota Sienna has a V6 engine.
The 2009 Toyota Sienna has a V6 engine.
The 2005 Toyota Sienna has a V6 engine.
The 2008 Toyota Sienna has a V6 engine.
The 2007 Toyota Sienna has a V6 engine.
The 2004 Toyota Sienna has a V6 engine.