ok, there are 2 general ways people go about this. one is to just filter the oil and pour it in the truck, which is modified with the necessary systems to make it useable. in short, that requires a dual tank system, fuel heaters, filters, etc.
the other way is to make biodiesel out of that waste oil and burn that - or just buy the pre-made biodiesel from the guys 40 miles away. this requires no modifications to the truck except making sure the fuel tank and lines aren't going to be damaged by the fuel.
since you're in an 06, your injection system is quite expensive, i would lean toward bio, not WVO, because the bio is already processed and as a result requires almost no work to your truck.
from there, you can set up a biodiesel processing system in your garage and brew your own fuel at home