What's been the easiest for me is to take the truck to what it thinks is sixty miles an hour and drive at a very constant sixty for a few road miles all the while running a stop watch. Remember that at sixty it takes exactly a minute to go a mile. Since you're most prolly goin to be goin faster than sixty it'll take you less than a minute to go the mile. Once you figure out how long it takes to go a mile do this, divide 60 by however many seconds it took you to go the mile and this will give you how many percent your speedo is off. Sorry for the novel but kinda takes a while to explain the whole thing. Hope this makes any sorta sense. Good luck!
Allan