However, be absolutely certain it's the transmission dipstick and not the engine oil dipstick. Engine oil and transmission fluid are completely different and adding the wrong fluid can severely damage your transmission. Look for markings on the dipstick itself that clearly indicate "transmission fluid."
If you can't locate it easily, refer to your owner's manual. It will have a diagram showing the location of all fluid dipsticks and filler points. If you don't have the manual, you can often find a downloadable version online through a Ford parts website or a third-party manual provider.
A picture of your truck's engine bay would help confirm, but be aware that the access to the dipstick may be somewhat obstructed depending on modifications or aftermarket accessories.