Because there's some variation depending on the exact configuration of the intake system (some have slightly different intake tubes), the best approach is to:
1. Consult your owner's manual: It should have a diagram showing sensor locations.
2. Use a repair manual or online diagrams: Websites like GMPartsDirect or others specializing in GM parts often have diagrams. Search for "2006 Chevy 5.3L Vortec IAT sensor location."
3. Look closely at the intake tube: Follow the wiring harness from the mass airflow sensor; the IAT sensor is often nearby and connected to a similar type of harness.
Don't confuse it with the MAF sensor; while close, they are distinct components.