You can tame the ones in the mod that adds them and cyclops but the ones that spawn on asteros in the cave I don't think are tamable

You can pick them up with a Wyvern and drop into a taming pen.

I made a small stone 3 walled trap 3 high with a door to run threw then just built a wall behind him and shot it with darts threw a window !

The best method I have found to knock out a Minotaur is to build a trap and then get it to follow you into it. I use 2x2 stone foundations, 16 single stone doorframes (2 high), and then build ramps into the trap as well. The tranquilizer/shocking darts are probably going to be your best bet but the arrows will work if you’re new. I used regular raw meat since I use a slightly boosted server but exceptional kibble is best, however you can also use prime meat or mutton. Be careful not to get too close to the trapped creature as they are very strong beasts.

Warnings;

The Minotaur can dismount you from your tames so be careful if you are using a tame to get it to the trap

It’s VERY fast