Sure, something like this should work
DoCmd.OpenForm FormName:="MyFormName", WhereCondition:="[SalesID] = " & Me.txtSalesID
Where txtSalesID is the name of the text box where you have SalesID. If your ID is text, then you would change it to:
DoCmd.OpenForm FormName:="MyFormName", WhereCondition:="[SalesID] = '" & Me.txtSalesID & "'"
Note that you may also need to move the focus to the textbox before running the OpenForm method:
Me.txtSalesID.SetFocus
HTH,
Russell