If you have wireless, the easiest way to do it is to use an app called UDID sender. It takes your UDID and puts it into an e-mail, then lets you fill out the rest of the app. It's very useful.
Hi Guys, Just wanted you all to make sure that you have emailed me your UDID's and TA ID. I will be pushing the beta out in a few days and don't want to miss putting any of your UDID in the build. Cheers!