This is a good over view of how to set it up. A simple way to find the proper cables is to simply purchase some jumper cables. They work fine.
You will also need to know what size inverter to purchase in order to operate the appliances you wish to run in your truck. This following video lays out how to find how much power you will need:
Now that was easy right? Having a good sized power inverter in your truck will allow you to not only have hot food on demand but also watch tv, run a computer or even have a more heavy duty refrigerator.