you need to go and get your CDL learners and have it for six months before you can apply for any class of CDL.

get the learners, and then drive bigger trucks with a licensed CDL driver. then you go and take the road test and written test at the DMV.

if you are going for a class B, you can drive a straight truck with airbrakes. if going for a Class A, you have to drive a tractor with a trailer, or a dump truck with a trailer and airbrakes.

you have to provide a truck for the test, DMV does not.