Hi, I just changed my battery out and had never had any problems with my truck until now. The check engine light is on and my truck all of a sudden stalls out every so often and seems like it is idling a lot. I took it to an autozone and received the code. It says there could be a problem with the IAC motor. Should I just change it or clean it out?

Just clean the IACV and hoses:

https://www.askmehelpdesk.com/cars-trucks/faq-how-troubleshoot-repair-maintain-hondas-46563-7.html#post1054149

Easy job that makes a big difference. In the future, if you use full-synthetic engine oil and change the air filter regularly, you will reduce the crud that builds-up in the IACV, EGR, PCV Valve, and hoses. Synthetics have much lower NOACK Volatility ratings, which helps everything stay much cleaner.

Cool. Will do. Thanks.

I had one more question about cleaning the IAVC and hoses. What should I use to clean them and what should I be careful with?

Just use spray brake cleaner--it will clean and evaporate quickly, without leaving any residue. Buy the least expensive you can find. No real precautions, except your eyes.

Modern cars and trucks run on a drive by wire design. By disconnecting B+ and reconnecting, your idle speed needs to 'relearn' it's values.
By simply driving the car, it will come back all by itself.

Use 'intake system cleaner' to clean. I like to use shop air to get it all out.