Coolant is yellow-ish in the hose, clear in the hand or on a napkin. Transmission fluid is black with a bit of very fine dust when I feel between my fingers (uniform, not different sizes). Car is a base, automatic 2008 Scion xD.
Both of these jobs are DIY-able, with the coolant change being the easiest.
You can probably find some detailed instructions or a Youtube video for your car. For coolant, you basically need to loosen a drain near the bottom of the radiator, drain the old coolant, close this, and open the radiator and pour in new coolant and water. There are some minor complications such as doing this with the vehicle cold, then checking and bleeding for air bubbles if necessary when the car warms up and the thermostat opens, that sort of thing, but it really is simple.
The trans fluid exchange may actually be worth paying for; some dealers have a machine that goes "inline" with your transmission (they disconnect a trans cooler line and loop the machine inline there). This allows them to capture the old trans fluid while putting fresh fluid into the trans while the car runs. This has the advantage of getting the fluid in the torque converter which is not changed in a static trans fluid change. It has the disadvantage of not changing the trans filter, which requires dropping the trans pan.
There are separate arguments to be made over whether a transmission fluid change is advisable on a higher mileage car at all. Some people believe that this leads to internal hydraulic leaks past worn seals that were previously kept sealed with grit, leading to problems after the fluid change such as line pressure drops and clutch pack wear. I'm agnostic on this subject but don't bother to change the trans fluid on most of my cars.