FIR filter design with time and frequency domain constraints
The most straightforward way to impose constraints in the frequency domain as well as in the time domain for the design of (linear phase) FIR filters is to use linear programming. 

Constraints on the step response or on the impulse response are naturally linear, and constraints on the frequency response can also be formulated as linear constraints in the case of linear phase FIR filters.

Take a look at this document for some examples. More details on the linear programming formulation of the FIR filter design problem can be found in this paper.