Corporations don't generate Form 1120-ES for estimated tax vouchers.
Per the IRS Form 1120-W instructions, regarding the electronic deposit requirement:
"Corporations must use electronic funds transfer to make all federal tax deposits (such as deposits of employment, excise, and corporate income tax). This includes installments payments of estimated tax. Forms 8109 and 8109-B, Federal Tax Coupon, can no longer be used to make federal tax deposits. Generally, electronic funds transfers are made using the Electronic Federal Tax Payment System (EFTPS). However, if the corporation does not want to use EFTPS, it can arrange for its tax professional, financial institution, payroll service, or other trusted third party to make deposits on its behalf.
To get more information about EFTPS or to enroll in EFTPS, visit eftps.gov."