You won't be able to print or view the actual vouchers themselves, but you can see the amount of each quarterly payment. (See screenshot)
Log back into your account and click Take Me to My Return. Use the search feature and search for "W4" and click the jump-to link. The first question will relate to Form W4, which you can skip. The next question will ask you to prepare your estimated taxes for 2019. Click Prepare and then you should get the screen in the screenshot below that will detail your payments. You can also proceed to make adjustments in this section if you wish.
Instead of using the search you can also get to this section by clicking these tabs -
- Click Federal Taxes
- Click Other Tax Situations
- Scroll down to Other Tax Forms
- Select Form W4 and Estimated Taxes
After you have the payment amounts, you can print off blank vouchers from the IRS if need be -
https://www.irs.gov/pub/irs-pdf/f1040es.pdf (payment vouchers are on pages 9-11)