The servos are run exactly the same as motors. The only difference is the hardware.
The sensor setup is fairly self-explanatory. Just go into the motor and sensor setup menu, and define the sensor on whatever port pin and interrupt pin you want.
Not to sound rude, but almost every answer to every question can be found by searching around the forums. Both this one and some of the Vex ones.
This thread has a link that will help you.http://www.robotc.net/forums/viewtopic.php?f=11&t=1360