Convert these to a fraction with polynomials of S in the numerator and denominator.
Then evaluate the fraction with complex values of S=jw.
Another method is to visualize the graphical method in the S plane with distances and angles of vectors from all poles and zeros to a point on the jw axis. The response is the product of the zero vectors divided by the product of the denominator vectors. To take the products, multiply the magnitudes together and sum the angles together.