3.73's with 31" tires (thats what they are likely "supposed" to be) are do-able...but not ideal. this is the same gearing i currently have in my truck and pickup from a stop is pretty lacking.
going to a taller gear ratio will technically lower your top speed....but you shouldnt be anywhere near your trucks top speed (90+ mph) anyway. you'll still be able to cruise at any legal highway speeds with ease.
what your "giving up" with taller gearing is highway RPM. most people like to keep their rpms at or around 2,000 while cruising. going to a taller gear will raise your rpm at the same given speed....so what you need to decide on is a gear that has the best balance between low end power and high speed RPM for you.
4.10's will bring your final gearing back to about what it was with your stock-sized tires. you'll turn about 2300 RPM at 65 mph. if you do a lot more city driving than highway driving, you might decide on an even taller gear, which will give you gobs of torque for stopping and going all the time. 4.56's, for example, might make you think you have a v-8 under the hood, but with that gear, you'll turn about 2500 RPM at 65 mph.
as for installing the gears themselves....4.10 was stock in many 4 cylinder trucks. so if you can find a 4x4 with 4.10's in a junkyard, you could steal the axles out of it and swap them into your truck for a lot less time and money than buying new gears for your axles. you can buy new gears for both your axles should you choose (either from a lack of junkyard axles, or choosing a higher ratio than 4.10's - the highest gear available from the factory), but installing them is NOT something a backyard mechanic can do. they require setting up and adjusting to within thousanths of an inch or else the gears will be destroyed. you can expect to pay a few hundred dollers in labor per axle to have the gears installed.
theres always the option of going back to stock size tires if you dont need the larger shoes. gearing is something people often overlook when slapping bigger tires under their trucks...but without it, performance suffers and transmissions and clutches experience more wear.