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Look inside the gas door....it should say there. Also check on the outside of the tire. It should say somewhere on there what max psi is. I can't recall off the top of my head what it is. I know I run mine all around 65psi. (I have an 02 crew cab) It depends on what tires you have also. I know they say to run the front with less psi than the back (which I don't understand since the engine is heavier than the bed). I believe it might be 55 in the front and 70 in the back.
check the side walls of your tires. on my 265/75-16E i run 70 in the front and 80 in the rear and i use nitrogen instead of regular air. if your going empty could back them down some to get a nicer ride. like 60 front and 50 rear, but definately check sidewalls for max
I am no tire pressure guru, but if you still have the factory tires on your truck, the recommended tire pressure (recommended by Ford) is on the "B" pillar on the left side of the truck. That is either on the drivers side door or if you have a crew cab, between the doors on the "B" pillar.
My truck does not have the factory tires, so I played around with the pressure so dirt is on the tire tread to the edges of the tire. Too much pressure and you will see the edges of the tire remaining clean and unworn. Too little pressure and the tires look under inflated and the ride is squishy and the streering suffers too.