You should be recording daily sales, and allowing QB to calculate sales tax for you, then you use the pay sales tax function on the home screen

Of course you do have to set up sales tax first, See this for a step by step how-to create and use sales tax (desktop)
http://onsale-apparel.com/Rustler/tag/how2-setup-sales-tax

sales tax collect is held in a sales payable liability account, then you pay it