The easiet option is to use the system identification app: https://www.mathworks.com/help/ident/ug/working-with-the-system-identification-tool-gui.html. It requires the system identification toolbox.
The other option is to write ODE for your transfer function and use this optimization-based method: https://www.mathworks.com/help/optim/ug/fit-differential-equation-ode.html

