Thought I would make a FAQ about this since it comes up from time to time. While the procedure is outlined in the FSM (Factory Service Manual) and most likely the owner's manual (haven't checked on the latter, can someone confirm?), the question comes up from time-to-time, and most people erroneously assume that you can check the fluid level with the vehicle off. This is of course incorrect. Here's the proper way to do it based on which transmission you have (Don't know which transmission you have? See this thread.)
30RH
The 30RH has to be warmed up and shifted into Neutral with the engine running so the ATF pump will run and give an accurate ATF level. The 30RH can't be checked in Park since it's transmission pump doesn't run in Park.
32RH
The 32RH is the same as the 30RH in that it has to be warmed up and shifted into Neutral with the engine running so the ATF pump will run and give an accurate ATF level. The 32RH also can't be checked in Park since it's transmission pump doesn't run in Park.
42RLE
You can check the 42RLE automatic when it's in Park or Neutral, as it's transmission pump runs in both.
30RH
The 30RH has to be warmed up and shifted into Neutral with the engine running so the ATF pump will run and give an accurate ATF level. The 30RH can't be checked in Park since it's transmission pump doesn't run in Park.
32RH
The 32RH is the same as the 30RH in that it has to be warmed up and shifted into Neutral with the engine running so the ATF pump will run and give an accurate ATF level. The 32RH also can't be checked in Park since it's transmission pump doesn't run in Park.
42RLE
You can check the 42RLE automatic when it's in Park or Neutral, as it's transmission pump runs in both.