A Tailed Beast can usually be tamed via a Jinchuuriki. Very few of those Jinchuuriki had the power to gain perfect Tailed Beast control. However, there are some Naruto Characters who weren’t even Jinchuuriki, but could control the Tailed Beasts. However, these characters are a select few, and I’ve named all of them below.
Yamato was a child experimented on by Orochimaru. He was infused with the Wood Release Kekkei Genkai. Later, Danzo trained Yamato in the ways of Wood Release, and he gained enough control over his abilities.
With this ability, Yamato managed to control the Nine Tails on several occasions, using the Hokage-Style Sixty-Year-Old Technique —Kakuan Entering Society with Bliss-Bringing Hands. However, by his own admission, he wasn’t as good as Hashirama Senju himself.