You can't, go to iOS 7 or higher. Only the 5G can go to iOS 7 or higher and that came initially with iOS 6 which had the Software Update in Settings.
To update
The Settings>General>Software Update comes with iOS 5 and later.
Connect the iPod to your computer and update via iTunes as far as your iPod model allows
iOS: How to update your iPhone, iPad, or iPod touch
A 1G iPod can go to iOS 2.2 via iTunes and iOS 3.1.3 via
Purchasing iOS 3.1 Software Update for iPod touch (1st generation)
https://buy.itunes.apple.com/WebObjects/MZFinance.woa/wa/touchLegacyLandingPage
- A 2G to 4.2.1. Requires iTunes version 10 or higher. If a Mac it requires OSX 10.5.8 or later.
- A 3G to 5.1.1 Requires iTunes version 10.5 or later
- A 4G to 6.1.6 Requires iTunes version 10.7 or later. For a Mac, that requires a Mac with OSX 10.6.8 or later
- A 5G to iOS 8 Requires iTunes 11.4 or later if you update via iTunes
Identifying iPod models
To get apps for your iPod:
Starting when iOS 7 was released, Apple now allows downloading the last compatible version of some apps (iOS 4.2.1 and later only)
App Store: Downloading Older Versions of Apps on iOS - Apple Club
App Store: Install the latest compatible version of an app
You first have to download the non-compatible version on your computer. Then when you try to purchase the version on your iPod you will be offered a compatible version if one exists.