There are a number of ways to go about this depending on how much you want/can fabricate yourself or if you want to buy it all ready done.
I first setup I built was when I converted my old Ramcharger to disc I just had my rear drive shaft set up for bolt flanges. Then I used a rear Harley rotor (worked there plentiful parts) just sandwiched in between the flanges drill bolt holes & set it there. Then I started searching for a caliper which was sort of a hassle in needing a mechanical unit for a 1/4" thick rotor. But finally it hit me small aircraft use them so I found one on Ebay fasbed up some brackets for the caliper and one for the cable all worked well.
Now I see many Driveline shops selling kits for various T/C
High Angle Driveline
Tom Woods
In case you want to DIY here's some help
Review of All Pro Driveline Brake while its made for yotas its all the same.
I have even seen a set up using a Hyd caliper & master it was actuated by the E-brake pedal in our trucks where the cable pulled on a short lever the compresses the master cylinder.
My current system in my Crew Cab is from Tom Woods