PDF document that you are are referring appears to be quite old with outdated information.
However, it is still correct broadly on major points i.e. you have to install XCTU and Code Warrior (with XBee SDK) software on your system. And XBIB interface board with JTAG debugger can be used to upload application on MCU of XBee.
I suggest you to pick one XBee Dev Kit since it will contain all required hardware (XBIB board, modules, debugger with cables and antennas) for you to get started.