First, you will need a commercial driver's license. Information can be obtained at your local Department of Motor Vehicles. They may also be able to inform you of job opportunities.
Many truck driving schools actively recruit and I do not think they require much more than be able to handle the rigors of long term driving. Also you will need to have a valid driver's license and can be bonded to get insurance.
Driving trucks does pay pretty well, but you need some training in order to do it. You must obtain a commercial driver's license. This means that you will have to go to a vocational school to learn how to drive these machines.