Either Denso or NGK are OEM plugs. I personally prefer NGK ignition parts. You can look up the part number on NGK's online catalog. The Laser Iridium OE type is what you want. I see DILFR6D11 for 120K intervals, verify your application.
NGK Spark Plugs (U.S.A.), Inc. manages two aftermarket brands, offering ignition parts and sensors for both automotive and non-automtive aftermarket.
ngksparkplugs.com
Then look on rockauto for price. Enter your zip code for shipping cost. You should come out to around $75 plus tax and about $9 shipping for 6 plugs. I'd guess the dealer might charge two hour or three to change plugs? (So that might add $200-300 in labor in addition to parts markup, so $400-500 maybe?) They might get it done in an hour but they will charge the book rate whatever that is.
And use the rockauto 5% off code, scroll to the newest post:
Hey guys, I got this discount code but it will expire on October 24th and I won't be using it. I don't know if it can be used more than once so whoever uses it first might be the only one to get it. All you do is put this number "38391513162399" without the quotes in the "How did you hear...
www.toyotanation.com