The automatic high-idle should already work as Loren said. When it's cold enough, the engine will ramp up to about 1000 RPM all by itself.
The manual high-idle may or may not already be enabled. With the truck stopped, in Park, and your foot off the brake, turn on the cruise control and hit the "Set" button. It will immediately ramp up to 1100 RPM if the feature is enabled. Use the "Accel" and "Decel" buttons to adjust it anywhere between 1100 and 1500 RPM.
If it doesn't work, the dealer will have to enable it.
Bob