Automatic or standard transmission? You have to get under the car for both. Manual, drain plug on the bottom side of the transmission and fill plug on the passenger side of the transmission. Automatic, drain plug on the bottom side of the sump and filling requires removal of the sump.
I believe that there is no drain for the power steering fluid (should be lifelong fluid in there). However, dipstick (fill) should be readily accessible under the hood. I can't remember exactly where, but it should be very obvious.