The standard approach to minimax approximations is called the "Remez Exchange Algorithm" (or Remez algorithm, or Remes algorithm). It can be fussy, however, and often requires a knowledgeable user to product good results, which is why Chebyshev and Cathedory-Fejer approximants are often used instead -- they are very nearly as good, and much easier to compute.

Mathematica, if you have access to it, can give you the minimax polynomial in one line.