You don't need to remove the camshaft pulleys/camgears to change the timing belt. The only time you need to remove them is when your removing the heads or camshafts.
Edit:I forgot that you were also going to replace the water pump. In which case you do need to remove the camshaft pulleys according to the instructions.
So you need a spanner wrench (Toyota calls it a SST (special service tool)). It looks like a weird shaped wrench with 2 pins on it. The pins fit into holes in the camshaft pulley and allow you to hold it still, while breaking the bolt lose.
Instead of using a spanner wrench or SST, you can remove the valve covers (good luck getting to the rear one though) and use a big adjustable wrench. Theres a flat spot on the camshaft that you can put the wrench around to hold it still.
By the way cross posting is a
This is the thread I'm refering to:
timing belt - 1MZ-FE... need spanner wrench ?