Add a Taxonomy Term

I am testing the GD Taxonomy Tools plugin – works great , nice coding.

My question: Is the method for programatically adding a Taxonomy Term to a Post, the same as adding a Category value?

For example: to add a Category value, I understand you need to be passed as an array of integers that match the category IDs in the database.

e.g. $my_post[‘post_category’] = array(8,39);

I would like to know how to do this using a Taxonomy rather than a Category.

Thank you,
daurora