How do I pay my ERC-20?

Excuse me, I'm a bit confused about how to proceed with paying my ERC-20 token obligation. Could you please elaborate on the steps I need to take to make the payment? Is it a straightforward process that can be done directly through my crypto wallet, or do I need to use a specific exchange or platform? Also, are there any fees associated with making such a payment, and if so, how do I calculate them? Your guidance would be greatly appreciated.