Try autoshop101, it's a technical website for Toyotas, this is going to sound crazy but when I looked on my laptop what I saw was very informative and goes into much detail and shows you how to check the TPS off the car, when I look on my iPad all I see is basic stuff. I'm in California for the winter and only have my iPad otherwise I'd post a link to what I found, but suffice to say I was able to use my multimeter and check the contacts were closing correctly and also as the TPS swings from closed throttle to wide open throttle and the voltage changing in the process. I was looking for an erratic movement at what could have been the 1900-2500 rpm range which would have told me to buy a new one. Everything I saw was correct though. Rockauto had a deal on for a TPS for under $30 I think so I may just get one anyway while I am here, I've changed pretty much everything else already!
If you are looking to check yours on the car then you'll need to hook up to a scanner, as Kevin said, ours are OBD1 in the UK and quite basic, not sure where you are, I had mine scanned five years ago at a Toyota dealer and was able to determine quite a lot, if you have OBD11 then you'll probably be able to check this, what they'll charge though I don't know.....
Good luck.