There are a lot of "trucking" schools these days, that are probably cheaper than what a trucking company would charge, but I dont know if any are truely "accredited". By that I mean I dont know if any companies would recognize the training as valid (something to be careful of)
Perhaps check with several community colleges in your area to see if they offer this type of training, and then call the companies you are interested in and see if they will acknowledge the school....
Either way I think you will have to pay something for the training. Its just a matter of how much...
Sorry I wasnt more help.