男女 is used only for humans.
公母 is normally used on animals.
雄雌 is more academic.
公母 is usually used with terms closer to everyday life:
公鸡 / 母鸡 gōngjī / mǔjī for cock / hen
For biological terminology, usually 雄 / 雌 would be used:
Here are more characters for "male" or "female":
郎猫=公猫
米猫=母猫
儿马=公马
骒马=母马
草驴=母驴
叫驴=公驴
牡=公的
牝=母的