Yes, you'll find it by following this path:  Federal Taxes > Other Tax Situations > Other Tax Forms > Form W4 and estimated taxes.

TurboTax will ask you to input various income and deduction/credit amounts and it will calculate an estimate for taxable income and tax owed.  Since you're working on a desktop version, you can then go to "Forms" mode and you'll see the actual worksheet listed along the lefthand margin (ES & W4 Wks).