Depends on what motor/transmission you have...
4 cylinder FWD (auto or manual): Dexron Type II or III (somewhere between 2.5 and 4 quarts required, depending)
6 cylinder Auto: Dexron II or III (3 to 3.5 quarts required)
6 cylinder Manual: 75W90 or 80W90 GL5 gear oil (no sure how much)
4 cylinder AWD auto: Toyota Type-T transmission fluid (3-3.5 quarts) plus 0.75 quarts 75W90 GL5 gear oil for the transfer case.
4 cylinder AWD manual: 75W90 or 80W90 GL5 gear oil (3-4 quarts)
Those are all from memory... so your mileage may vary.
-Charlie
PS. I've had equivalent transmissions for about 1/2 those listed above on various Camrys of the past years...