What zack said. Most any trainer will work, but for Coach Troy, it definitely needs to be a setup that allows you to stand (not that I'm aware of any that don't).

An adjustable resistance trainer is nice for fine tuning resistance since you're trying to keep your effort in a certain effort zone. If you have it, he recommends setting it in the middle. But without the adjustment, you can just tweak the gear recommendations as necessary.

If you don't have an HRM, that's almost a must. Cadence is nice, but you can just duplicate the riders in the video, or count revs for 10 secs and multiply by 6.