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Most (all?) states have a website designed to help new businesses get started in their state. A topic on all of them will be sales taxes, when they must be collected, and the procedures to follow for items exempt from taxes.
You need to read up on that and perhaps call the local taxing authority.
For example, in my state, I'm required to keep records on all sales that I make, including those for which I am not required to collect sales taxes. For business to business sales that are exempt, I'm required to get specific paperwork from the buyer indicating that they are exempt and to keep that on file.
Periodically, I must submit a sales tax return with the state - even if I owe nothing.