You can get the Estimated Tax Forms printed by:
You need to go back into the TurboTax program.
Go to Federal Taxes.
Then go to Other Tax Situations
then scroll down to "Other Tax Forms" and the 3rd one is "W-4 and estimated taxes"
Go through this and you can print them.
If you have trouble getting back into the return if it was just filed, then click on "Add another State". You will not actually add another state but this will let you back in.