By multiplexing information symbols in the delay-Doppler (DD) domain, orthogonal time frequency space (OTFS) is a promising candidate for future wireless communication in high-mobility scenarios. In addition to the superior communication performance, OTFS is also a natural choice for radar sensing since the primary parameters (range and velocity of targets) in radar signal processing can be inferred directly from the delay and Doppler shifts. Though there are several works on OTFS radar sensing, most of them consider the integer parameter estimation only, while the delay and Doppler shifts are usually fractional in the real world. In this paper, we propose a two-step method to estimate the fractional delay and Doppler shifts. We first perform the two-dimensional (2D) correlation between the received and transmitted DD domain symbols to obtain the integer parts of the parameters. Then a difference-based method is implemented to estimate the fractional parts of delay and Doppler indices. Meanwhile, we implement a target detection method based on a generalized likelihood ratio test since the number of potential targets in the sensing scenario is usually unknown. The simulation results show that the proposed method can obtain the delay and Doppler shifts accurately and get the number of sensing targets with a high detection probability.