This sounds like a window motor that has burnt out. When replacing the motor it's also a good idea to replace the window regulator also contained inside the door.
Open the hood of the ES300 and prop it open.
Look at the headlight assembly from the top down. Depending on your model year, there may be a plastic panel covering the top of the headlight assembly. If this is present, remove it by lifting all of the plastic clips around the edges and lifting it off.
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Locate the three bolts that hold the headlight assembly in place. Two of the bolts are in the left and right rear corners of the assembly, and the third is on the side bordering the outside edge of the car, screwed into the back of the fender panel. Remove all of these bolts with a small adjustable wrench. Though they appear to be designed to be removed with a screwdriver, the way they're arranged makes it almost impossible to remove them with one.
Slide the entire headlight assembly forward a few inches so that you can reach the back of it.
Unscrew the plastic bulb socket assembly. This is the large, round component located right in the middle of the back of the main assembly. Turn it about a quarter turn to the left and you can pull it away from the main assembly. If you're replacing both the bulb and the main assembly, see the next section on how to replace the bulb, then resume this process
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