How do you get to the front wheel bearings on a 1999 toyota tacoma so that i can grease them?

First remove the tire, that will get you moving in the right direction,
there is a cap and under the cap is a nut this nut holds the front hub on the truck, wiggle the hub and the bearing will come out, you need to pack the bearing not just smear some grease on it, holding some grease in the palm of your hand rub the side of the bearing forcing grease into the bearing.

Remove grease cup remove cotter pin remove nut wiggle wheel and bearings should come out?

For the most part it is very similar to doing a brake job, you will need to gain access to disc area. once you have removed the caliper you will need to remove the dust cap, this will allow you to remove the nut that secures the disc to the spindle. after you access to the front bearing, remove and set aside, put washer and nut back on, slide rotor out tapping it to remove rear bearing, remove nut/washer and hand pack with wheel bearing grease. re assemble, check and bleed brakes if necessary, Good Luck!