I strap launch my Capri 22 with a 4 foot fin keel at our boat ramp every summer, as do several other keelboat owners who sail at Fern Ridge. There are a few things you need - first you need to know the depth of the water at the base of the ramp. I need about 6' at the base to launch/retrieve without having the trailer wheels go over the edge - you'll presumably need 6 or 8 inches more than I do, though that will depend on how high above the road the bottom of your keel sits when it's on the trailer.
Our launch process goes like this: Raise mast, rig boat. Back up until trailer tires are about a foot over the top of the ramp (our ramp has a pretty pronounced lip where it slopes down toward the water). Chock trailer wheels, disconnect from truck, lower as far as the trailer jack will go. Raise slightly with bottle jack, fold up trailer jack, lower onto dolly wheels. Attach cable bridle to front of trailer, unhook trailer winch from boat. Hand bow/stern lines to helper. Turn truck around, attach 30 foot tow strap (or 2 15 footers) to truck tow hook and cable bridle on trailer. back up slightly to relieve pressure on chocks, remove chocks. SLOWLY roll (truck) forward, steering as necessary to avoid dock and pedestrians, and ease boat/trailer into the water until boat floats free. Helper pulls boat clear of trailer, pull trailer to top of ramp, chock, raise, hook up to truck, park truck, get on boat, motor to slip, tune rigging, rig mainsail, go for a sail.
Retrieving the boat is essentially the reverse, with the exception of having to use a come-along to get the boat placed correctly on the trailer - the slope of the ramp puts it about 3 - 4 inches too far back on the trailer.
Supplies you need: 1 or 2 dolly wheels mounted on trailer (see picture at
http://www.pbase.com/sinnettc/image/103478500), bottle jack, ~30 feet of tow straps, chocks. maybe a come-along after retrieving the boat. Also, a couple of keel guides to help get it centered on the center of the trailer don't hurt (see the black carpeted things behind the keel here
http://www.pbase.com/sinnettc/image/100839405).
The entire launch process, from mast raising to rig tuned takes about 3-4 hours I guess. The actual launch takes maybe 10-15 minutes, if that, unless I forget to unhook the winch from the bow padeye or something. Retrieving takes a bit longer as we generally scrub the crud off and I have to pull the boat forward a bit with the come-along. I do all this with a 95 Silverado 4x4 1/2 ton.