Are the estimates over $1,500 each?  VA changed the law effective 7/1/22.  All estimates over $1,500 must be made electronically.  Once the taxpayer is "on" electronic payments they stay on it.

Payments can be made via the website:

https://www.tax.virginia.gov/individual-income-tax-payment-options

But yes, if you have ES payments <$1,500 you should be allowed to print them.

Rick