Quick method:

kubectl -n kube-system create sa tiller && \ 
  kubectl create clusterrolebinding tiller \
  --clusterrole cluster-admin \
  --serviceaccount=kube-system:tiller && \ 
  helm init --service-account tiller

 

Longer method:

Create the following foo.yaml

---
apiVersion: v1
kind: ServiceAccount
metadata:
  name: tiller
  namespace: kube-system
---
apiVersion: rbac.authorization.k8s.io/v1beta1
kind: ClusterRoleBinding
metadata:
  name: tiller
roleRef:
  apiGroup: rbac.authorization.k8s.io
  kind: ClusterRole
  name: cluster-admin
subjects:
  - kind: ServiceAccount
    name: tiller
    namespace: kube-system

 

Now run

kubectl create -f foo.yaml 
helm init --service-account tiller