Storlied - don't manually shift. put it in D and leave it.
Hold the brake pretty hard. Rev the engine until you feel the truck start to overpower the brakes. (do this in a few short seconds because you don't want to overheat / put extra load on the tranny) When you figure the RPM out that you can hold, just repeat but this time let of the brake and punch it. Go practice this a bit before racing.
Ofcourse, this will all be done on at the track, right?
When you get this down, get to your RPM quickly (With-in a second) while pressing on the brake even harder. Right about the time you're going to go, see if you can get just a few more RPM's built up by hitting the gas more and let her rip. You have to do this pretty fast. hope this makes sense cuss it's hard to explain.