I want to offer a contrary opinion to the question "Could such a creature evolve?", and argue, yes, minotaurs could evolve.
Before starting, it is worth noting that the minotaur of greek mythology (i.e. THE minotaur) was a singular individual created by divine intervention; if we want to consider the possibility of minotaur evolution, we need to allow for the existence of a population of minotaurs, more like the minotaurs that populate fantasy RPGs, C.S. Lewis's Narnia etc.
The key element in understanding how a human or human-like ancestor could give rise to a population of minotaurs is to recognise (assume) that typically minotaur traits are secondary sexual characteristics that emerge largely after puberty under the influence of a testosterone surge. (This limits the typical minotaur appearance to males; females would be substantially less "minotaur-like", and we expect/predict a substantial amount of sexual dimorphism, perhaps of a similar degree to that seen in gorillas where adult males can approach twice the body mass of adult females). This should get around any obstetric complications associated with a human-like mother giving birth to a horned bull-like head!
Imagine a pre-minotaur population where physical strength is important for male reproductive success. This may be because the environment poses particular challenges; because of violent confrontations between males of different groups (as in real-world chimpanzees); of perhaps because males' access to potential mates is mediately largely by competition between males - bigger, stronger males outcompete the smaller weaker ones, and father more (most) of the babies. This is seen in multiple real-world non-human primate species, so is not unreasonable.
Imagine a male is born with a genetic mutation that has two effects: distortion of the skull (a hint of a bovine appearance), and increased responsiveness to testosterone at puberty, such that post-puberty this male is larger and stronger than other males. This will result in increased mating share, with his offspring inheriting these proto-minotaur traits. If we wanted to we, could also imagine that testosterone at puberty also exaggerates the bovine-like features of the skull; regardless, it may well also increase the aggressiveness of these males.
Over time, the population would come be dominated by individuals (males) who have this proto-minotaur phenotype.
Now imagine also that a genetic trait exists that is expressed in females that relates to mate-preference. Given opportunity to exercise choice (which might be just a matter of being more or less resistant to male mating approaches), females "prefer" (i.e. are more likely to mate with) more physically-powerful males.
Particularly if the increased aggressiveness between proto-minotaur males led to a population structured into small groups, females might be able to skip out of one group and join another - not that different to the situation that seen in modern gorillas, where females choose which harem to join - and this leads (at least in this scenario) to inter-sexual selection that, over generations, exaggerates the proto-minotaur traits into full-blown minotaur. Horns, for example, extending and developing from initial small bony spurs of the semi-bovine skull, perhaps even acting as honest signals of the male's genetic quality even though they are exaggerated beyond useful, head-butting size/shape.
For females on the other hand, we would not expect a significant increase in body mass over the ancestral population (perhaps a little, as it might be dragged upward by selection on male body mass), and the bovine-like features would not be as strongly exaggerated, but they would be noticeably not human. Female minotaurs should be smaller, less aggressive, and less bull-like.
Social structure might mirror that seen in gorillas, with males holding harems, dispersing at puberty and spending time alone before assembling their own harems, but the need to hunt for meat - we're still assuming these minotaurs are (at least part-time) carnivores - would probably require cooperation between males to bring down large prey, so perhaps harems nested in a more chimpanzee-like community structure might work? (incidentally, this is what Edgar Rice Burroughs came up with for his fictional apes in Tarzan, but I didn't recall that until I got to this point in the argument). Note that this line of evolution would equip minotaurs with primate-like teeth, allowing for the exaggerated canines seen in much of the artwork, rather than the typical bovine dentition more suitable for eating grass.
So an evolutionary argument can be mounted for minotaurs, that avoids both Goldschmidt's 'hopeful monster' speculation, and particularly unusual birth complications.