Hi Jessi, the only way is to contact the Department of Road Transport (JPJ) and settle any outstanding dues/fines to get insurance note and road tax for your vehicle.

Visit this website for more information: https://www.poi2u.com/help/faq/general-information/how-do-i-get-the-insurance-cover-note-and-road-tax-for-my-vehicle-if-it-has-been-blacklisted