Shin-Etsu®, sold at your Toyota dealer, made in Japan. Expensive, but goes a long way. Stays in place, good at all temperatures. Generally spec'd by Japanese OEMs for the window mechanism inside your door. However you may not prefer the white colour, so if that's the case, a wax-based lube (Fluid Film®, etc) or perhaps some of the others suggested here might be more to your liking.
Your locksmith will sell you dry graphite powder for $3 that is excellent if you need cold weather performance, as it doesn't increase in viscosity as temperatures fall like petroleum based lubes will, but that is strictly for dry applications ... you would have to remove any grease or other viscous lube first for it to be effective.
I wouldn't discount the old "run a wax candle along the slides" home remedy either.