Ch. Impedance, Zo=√{(R+jωL)/(G+jωC)}
R is the resistance per unit length,
L is the inductance per unit length,
G is the conductance per unit length, and
C is the capacitance per unit length.
The impulse response and step response are transient responses to a specific input (an impulse and a step, respectively). You need an oscilloscope and signal generator to do it. The responses depend on the circuit elements, the values of R, L, C.
Frequency response can be measured applying an impulse or sinusoidal signals with frequency range. You are essentially testing the filtering characteristics. Again you need Oscilloscope and signal generator.
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You can consult circuit analysis books...