Installing TWRP on a Samsung device, no fastboot (using ADB or other ways)
There is no fastboot mode on Samsung. You must use the ODIN mode, which is an alternative to fastboot. On Linux there is a client application called Heimdall which talks to phones via Odin mode. So the answer to your question is ODIN or Heimdall. ODIN is the proprietary Samsung PC application, Heimdall is multiplatform open source alternative.

Alternatively, if you are able to root your phone somehow, you can put TWRP (or any other recovery) on your phone by rewriting the recovery partition via shell but this can be tricky and I wouldn't recommend it unless you know exactly what you are doing or willing to risk bricking your phone. If interested, I can write a generic how-to too but I'd rather leave it to someone with more experience on that - I only did it like 5 times.