This is covered early in chapter 2 of the fable "Art of Electronics" book.
Since you want the transistor to be switched on, i.e., in saturation, figure 16 from the datasheet is what you want. Conveniently, Ic = 100mA is what you specified in the problem, and it's one of the curves from the datasheet (the rightmost one).
Next, you have to decide how much drop across the transistor you're willing to tolerate. If Vce = 1V, then your load only sees 4V. If Vce = 0.5V, then your load sees 4.5V, and so on. Unlike a FET, it is unreasonable to expect perfection here, a BJT will always have 0.1 - 0.2V of Vce drop in the best case.
In any case, pick the drop you're willing to accept on the Y axis, and read off the base current on the X axis. Unfortunately the values go off the screen for really high base currents, but you can easily extrapolate. We can't tell you what a sensible drop is in your case, you have to decide that -- your load might be perfectly happy with a 0.5V drop, in which case 4mA of base current (don't forget to bring that up to 8mA for a safety factor) will be fine. You could push a lot more current through the base, but the gains will be rapidly diminishing, and the increased power dissipation of your IC might be worse that the ever-so-slightly increased voltage delivered to the load. This is a compromise we can't make for you (nor can any magic website), but at least you know the graph to refer to. Once you've decided on a base current, it's easy to calculate the resistor that will provide that current (resistor = 4.3V / current).
Note that transistors vary hugely from sample to sample, so you want to double the base current from what you read off the graph.
~260R resistor.
Use this website to calculate:
http://www.petervis.com/GCSE_Design_and_Technology_Electronic_Products/transistor_base_resistor_calculator/transistor_base_resistor_calculator.html
I have to call this out as questionable. Don't get me wrong, 260R will probably work fine, but I have to ask you where you got your hFE value from? Because the value of 30 from the datasheet is for Vce = 1.0V, which is hardly convincing saturation. Also, it looks like you didn't even use 30, because I seem to be getting a even smaller resistance than you on the website.