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In this tutorial, a self-employed spy, referred to as "Bond, James Bond," explains how to fill out Form 1040-ES for tax filing. He emphasizes that income tax is a pay-as-you-go system. Unlike employees who have federal withholding from their paychecks, self-employed individuals must make quarterly estimated tax payments based on their projected tax liability to avoid underpayment penalties. These payments should cover both income and self-employment taxes and are reported using Form 1040-ES. The video provides step-by-step instructions on completing this form.