You may have read that in "Guns, Germs, and Steel" by Diamond, which is pop science but highly recommended.
There's an additional distinction between animals that can be domesticated (grown on a farm) and tamed (born in the wild, brought into zoos).
To be domesticated, an animal must have several compatible attributes:
1. Size - It's just not worth it to try to domesticate mice. It's barely worth it to domesticate rabbits. Today, we might domesticate pangolins, rabbits, rats, etc. because cuteness, charisma, or rare medical utility is now valuable enough to have someone specialize in, but you're not going to get the benefits of millenia of breeding the best sheep for domestication.
2. Temperament - An animal must be docile, able to be calm in reasonably close proximity to humans. Typically this means herding or flocking social herbivores, and not flighty, vicious ones.
3. Reproductive rate - If it's going to take multiple generations of farmers to grow one generation of Galapagos tortoises or elephants to maturity, you're not likely to have a self-sustaining farm. A breeding program over centuries becomes a civilization-level project, not a personal project.
4. Diet - Again, today we could hypothetically feed termite larvae to pangolins at comparatively great expense. But if you want millenia of breeding to improve your domestication progress, they're basically going to have to be willing to eat stuff that's easy to provide and that doesn't compete with human diets, such as grass.
Buffalo are not suited to domestication because they fail criteria #2, unlike cows. Diamond argues that this failure is part of why the Europeans colonized the Americas rather than the other way around - Eurasia had horses, cows, sheep, goats, pigs, wheat, barley, rice, and more, the Americas had buffalo, llamas, deer, beans, and maize (the latter two being great grains in calories per acre, but not half as good as modern corn, and not easy to farm without draft animals).