What do you mean by that exactly? Initially it's just an outgoing tunnel to one of their many exits, to reach any site which is reachable via v6. How you integrate that into your setup is up to you. Since they are (one of?) the pioneers you have many scripts available on many platforms which support that.

When you mean incoming tunnel, it's no different from the many dynamic DNS solutions, where it's again up to you to integrate that. But even for this they have something:

https://dns.he.net/