I havent really looked at my 4Runner's brakes yet, but a floating caliper is a bit easier. Typically, just to replace pads, you remove two bolts from the caliper itself, and pry/lift it up out of the pad cradle, and it will have a lip on one end that will lock it in, and the other end will lift up and off the pads. There is a large, U-shaped cradle the pads slide into, and they put their stopping force against this cradle and down in to the spindle/axle. If you need to remove the rotor, you just have two more bolts to pull the cradle out and pull the rotor off the studs. I'll see if I have some pics of my Ram's brakes, Im sure they are similar to my 4Runner's in their basic design.
Brakes are one of the easiest things you can do to save yourself ALOT of money. People get scared of brakes, but once you just sit down and pull one off, you'll be an expert at it. they're that simple now.