From the blue navigation bar on the left > select Sales Tax tab > select “Record Tax Payment” blue button > New “Record Sales Tax Payment” screen will open > “Print a check” checkbox is located right below Notes field > select Checkbox > select “Record Payment and Print Check” blue button

Now, sales tax check in queue to be printed

From the Create (+) sign > select Print Checks

Follow other selections to preview and print check

QuickBooks Online: Where do I find the amount of sales taxes due