>> pkg load control % if you haven't got the control package already loaded
>> sys = tf(num,den)
Transfer function 'sys' from input 'u1' to output ...
2 s^3 + 5 s^2 + 3 s + 6
y1: -----------------------
s^3 + 6 s^2 + 11 s + 6
Continuous-time model.
The same works also in MATLAB if you have the Control System Toolbox.