You sure your AC compressor isn't siezed up? Does it spin?
Either way, to get to the IAC, remove the plastic cover. It should be 3 bolts.
This is what the IAC looks like. It's held by 2 bolts, but first disconnect the electrical connector that goes to it.
There should be a gasket right under it. Don't loose it. To clean it, use Electric Parts cleaner, found in aerosol form at Advanced/Autzone (in a tall red can.) Spray the inside until it's all clean. Let it dry thoroughly. Put back in, and turn the truck on. Let it idle for a bit so it'll relearn the idle.
These usually start humming/whining when they are going bad, but I guess it doesn't hurt to clean it.