W4 / deductions

Hello!

My husband and I work full-time, and our adult daughters are not eligible to be dependents. We keep getting stuck with paying penalties for not paying the estimated taxes. It is frustrating because we follow the Turbo Tax process and then receive a bill two months later. 

 

How can we better plan ahead so as not to be penalized?

Should we both have 0 on our W4's?