Probably is a diagram, but I don't have one personally.
You will need a female fitting adapter, or "needle" for your grease gun though. There is at least one female zerk fitting at each double-cardan (or CV) joint for lubing the centering-ball and yoke.
They also get pretty gummed up over the years, so if yours is original and doesn't seem to want to accept any new grease, you may have to poke it with a, well, poker to clear it out. In extreme cases, I've had to use a cleaner like B-12 Chemtool to clear the old dried up crud away.
Flush, rinse, dry, re-grease. For that, you'd probably be better off pulling the few nuts and bolts and getting the shaft to a convenient place to work on it.
Otherwise it can all be done on the truck. You just have to rotate it to different angles to get to some of the fittings.
Good luck! I'm sure someone will have more to add, or corrections to make if I goofed. Been awhile since I had to grease mine.
Paul