BEST WAY TO CHANGE COOLANT?

Im nearing 100k miles on my 2006 Toyota Tacoma V6 Prerunner and want to change the coolant as required in the maintenance schedule. Whats the best way to do this?

Ive read to flush with distilled water? Not to flush with distilled water? Drain and flush with just collant? Drain just the radiator? Drain the radiator plus the engine? Lots of mixed messages.

Can someone please explain the best way to go about servicing? Much appreciated!!!!!

 

I always just empty, fill w/ distilled water, run the heater on high for 10-15 min, drain again, and fill w/ correct mix of collant / water.

 

http://www.tacomaworld.com/forum/2nd-gen-tacomas/88414-correct-way-drain-fill-4-0-antifreeze.html