Get your taxes done using TurboTax

First of all it won't transfer or import to 2020 next year so you will still have to remember to enter it.  

You can switch to Forms Mode and open the 1040ES.  If you don't have any listed you can find it in the US Listing of Forms on the right side.  Find voucher 1 and override it.  

Or You can pay directly on the IRS website https://www.irs.gov/payments

Be sure to pick the right kind of payment and year.....2020 Estimate