To find it, you'll need to:
1. Consult your owner's manual: This is the best resource. It will have diagrams showing the location of the drain plug.
2. Look under the vehicle: Carefully inspect the bottom of the engine block, focusing on the area near the oil pan. The drain plug is often a slightly recessed bolt or a differently-shaped plug than others in the area. It's usually a low-profile bolt that is about 1/2-inch to 3/4-inch in size.
3. Use an online repair manual or forum: Search for "2001 Jeep Cherokee coolant drain plug location [4.0L or 2.5L depending on your engine]" on sites like Jeep forums (like CherokeeForum.com) or repair manual websites. Pictures from other owners will be incredibly helpful.
Important Safety Note: Always allow the engine to cool completely before draining the coolant. Hot coolant can cause serious burns. Use appropriate safety gear, including gloves and eye protection.