The name you want is often registered but unused. Acquiring it is possible, with realistic expectations.
FIRST, CHECK WHO HOLDS IT
Look it up in WHOIS. You will see the registrar, the expiry date, and contact details unless privacy is enabled. If it is privacy-protected, there is usually a forwarding address.
Check whether it resolves to an active site, a parking page, or nothing. An unused domain is more likely to be for sale.
APPROACHING THE OWNER
Be brief and businesslike. Say you are interested in the domain and ask whether they would consider selling.
Do not explain that your business depends on it or that you have already printed materials. That sets the price.
Consider using a broker or an intermediary for anything valuable, since an individual asking is quoted differently from an anonymous enquiry.
REALISTIC EXPECTATIONS
Many owners will not reply. Many will quote a price far above what you expected. Short, common-word domains change hands for very large sums.
WAITING FOR EXPIRY
Rarely works. Valuable expiring domains are registered within seconds of release by automated dropcatching services.
THE PRACTICAL ANSWER
Usually, choose a different name. A good available name beats a long expensive pursuit of a specific one.