Still confused about Home Employee (nanny) taxes...help!

I'm in my 3rd year as an employer of 1. Our nanny watches our 2 kids in our home for ~ 30hrs/week. I've received mixed messages when talking to people at the IRS. Essentially, I still don't know where to send quarterly estimated taxes for both myself and for my employee (I have taken responsibility for paying for both his and my tax responsibility). Historically, I have submitted payments using Form 941 via EFTPS - I now know this is not the right form and the IRS has rerouted my payments to the right account. I also now know I will need to submit a Schedule H when filing annual taxes. I just don't know where to find estimated tax vouchers for both myself and my employee and where to send them. And I don't know if the vouchers will need an associated quarterly IRS form. Any thoughts?