Lots of blue painters tape, drill bit and jigsaw with sharp fine blade. Probably take 5 mins once you have the door removed, blue tape applied and hole drawn out. Don't be afraid, just plan accordingly and mask everything off so you don't scratch the paint.
Or... Take it to a body shop and pay them the hourly rate to do it.
2014 Redwood 38BR, Fulltiming
2013 Ford F-350 CCSB 6.7L 4x4 SRW, B&W Companion Hitch, Air Bags