QuickBooks can automatically do the sales tax calculations for you on your invoices and receipts for easy and accurate filings. Then, it lets you know when your tax payment is due, so you can file on time and avoid extra fees. However, sales tax will only show for all sales transactions.
After that, you can now pay your current due. I recommend visiting this article for future reference: Pay sales tax.
I'm adding these articles for reference. It contains a video tutorial, links on how to track sales automatically in QuickBooks: