Sales Tax Reporting can be found by navigating to Reports > Financial > Sales Tax.
You have 2 options for your reporting: Cash Basis or Accrual Basis. If you are unsure which one, we highly recommend asking your accountant. For more information, here's an IRS article regarding Cash Basis vs Accrual Basis.
You'll also notice that if you have multiple tax rates, each tax rate is broken out into its own column and totaled at the bottom for easy reporting.