The only easy way to do it is to sell it and buy an ST185 GT4.
That being said:
The factory 5S-FE is not a very good base for a turbo unless you upgrade the flimsy pistons and con rods. Even then the cylinder head does not flow very well. On stock internals it can handle somewhere in the range of 7-12psi with a CT26 turbo and turbo manifold from a GT4. This will require larger injectors and an ECU upgrade. Reliability is the biggest concern with this route.
The 3S-GTE swap from a GT4 is a more reliable swap if done correctly; but, it will require a gearbox from a V6 Camry and an ECU/wiring to suit.
There are plenty of other parts required for both swaps; however, I have kept it to a minimum for the sake of brevity.