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In this tutorial, self-employed spy "James Bond" (aka 007) shares a step-by-step guide on filling out Form 1040-ES for estimated tax payments. He explains that, unlike employees who have federal taxes withheld from each paycheck, self-employed individuals must make quarterly estimated tax payments based on anticipated income, including both income and self-employment taxes. Failing to do so may result in underpayment penalties. The video emphasizes understanding the pay-as-you-go tax system and the importance of accurately estimating and reporting tax obligations using Form 1040-ES.