If you have an Arduino that operates at 5V, the 5V is pretty simple. Turn the pin full on (100% duty cycle).
The 1.4V is not much more difficult. You want the duty cycle to be 1.4/5 times the full range. 70% of 255 is 178.5. Either 178 or 179 should be close enough.
From what I read in the datasheet, these voltages are for the heater right? The problem there is that the heater is a 33ohm load. So at 5V, it needs to draw about 150mA from the Arduino.
So you won't be able to power it directly from the I/O pin.
It will not need the full amperage, but they say 350mW in the datasheet. I have used some similar sensors, and this is no toy! They will become extremely hot (500 °C)