With dig you can use +tcp.
man dig says:
+[no]tcp
Use [do not use] TCP when querying name servers. The default behavior is to use UDP unless a type any or ixfr=N query is requested, in which case the default is TCP. AXFR queries always use TCP.
+[no]vc
Use [do not use] TCP when querying name servers. This alternate syntax to +[no]tcp is provided for backwards compatibility. The "vc" stands for "virtual circuit".
So both +tcp and +vc does what you want, but +tcp is a bit more clear in what you're trying to do.
Using dig myself and tracing the traffic with Wireshark I see that dig google.com @8.8.8.8 uses UDP and dig google.com @8.8.8.8 +tcp uses TCP.