If you choose to pay by mailing a check for taxes owed, then the vouchers should have printed.
You can manually enter your information on a payment voucher and then mail it in.
Federal payment voucher (1040-V)
https://www.irs.gov/pub/irs-pdf/f1040v.pdf
NYS payment voucher (IT-201-V)
https://www.tax.ny.gov/pdf/current_forms/it/it201v_fill_in.pdf
