Toyota sells small bottles of touch-up paint. The parts department can look up the paint code and sell you the correct one. If you have the paint code, any autobody supply store can make you a larger amount.
For very small chips you can use medium weight porous paper and just dab a sharp corner of the paper with a small mound of paint on it in the chip. For very thin scratches, you can use a thin paper towel dabbed in paint and then just sort of drag it along the scratch. For larger scratches, matchsticks or paint brushes work well. Make sure to have a towel and some paint thinner handy in case you make a mess.
It is best to apply touch-up paint in many thin layers to fill a chip, rather than fewer thick layers. Fill the chip until it is slightly higher than the surrounding body, then use a polishing compound to equalize the height. Finally, wax the chip and surrounding area to protect it.