Customers can select the desired shipping method at the 3rd step of checkout; that step is called Shipping Options.
The cart page allows you to calculate shipping rates.
Shipping Estimation Block
You can add a block for estimating the shipping cost of all the products currently in the cart to any page of the store.
To do that:
Shipping Methods Block
You can add a Shipping methods block that displays the logos of the available shipping methods to any page of the store you’d like.