How much should I set aside for taxes if I'm self-employed?
Often 25% to 35% of your profit, but it depends on how much you make and where you live. The calculator works it out for your state or province with this year's tax figures.
Is it a percentage of sales or of profit?
Of profit: what comes in from customers less your business costs. Sales tax or GST/HST you collect is separate, and all of it belongs to the government.
Where should I keep the money?
A separate savings account you don't touch. Move the share across every time you get paid, so it's there when the tax is due.
When do I pay it?
In the US, four estimated payments: April 15, June 15, September 15 and January 15. In Canada, instalments on March 15, June 15, September 15 and December 15 once you owe more than $3,000, and the rest by April 30.
More detail: the US quarterly estimated tax calculator and the Canadian self-employed tax calculator.