I generally don't, but just let the client know that they should expect a bill from IRS or state.

The method:

1. Go to Penaties and Interest (2210) 
2. Look at the tabs across the top for Late Return Pen. & Int.
3. You  can enter 1's to do automatic calculation, but don't trust it https://proconnect.intuit.com/support/en-us/help-article/federal-taxes/enter-federal-state-interest-...
4. I dont' see anywhere to put the filing date, which would be necessary to do this correctly

ON SECOND THOUGHT - don't mess with this - the program is not ready for prime time.

Try https://www.irscalculators.com/irs-penalty-calculator if you want the numbers