FIRST, you need to check if there is a bad connection at one of the terminals ... Try to twist the battery connection lugs at the terminals sideways... if they move easily or evn at all the need to be snugged up tight. . Also check for corrosion at the terminals !!! If they are corroded they need to be thouroughly cleaned and reconnected.
If the connections check out, then you need to check the batteries voltage and capacity with a voltmeter AND either a load tester or a battery hydrometer !!
Almost any parts store will also voltage and load test your battery for free, but if you can't drive to the store, obviuosly you have to pull the batteries to have to have them checked, which can be harder then simply testing them IN the truck with a voltmeter and hydrometer. A hydrometer costs less then $10 at any decent parts store, but if you don't already haev a voltmeter as well, then you should probably just pull the batteries and take them in.
Once BOTH batteries check out, IF they check out, you can move on to other tests to determine what is NOT working... it MIGHT be the fuel pump, maybe the fuel filter s plugged, but from your symptomes it sounds to me like the batteries simply do not have enough juice to energize the pump or the starter.
Let us know what you find !!!