Testing nearly the entire starting system if not all of it can be done with a Multimeter.
You will want to start with the VAC(volts Alternating Current) selection on the multimeter. If you have a range selection use something that will allow you to read 10-20VAC. Plug the red multimeter lead into the positive and the black multimeter lead into the ground or common. You will want to touch the red lead to the connection that has you voltage and the black lead to a clean portion of the chasis or bolt. Make sure you use metal that is/or is connected to the frame!
Use that and read the following link.. Page 14 even shows multimeter use
http://www.autoshop101.com/forms/h7.pdf