Not much to be said, it should "just work" out of the box. You plug a board in (for example this one https://www.dfrobot.com/product-2566.html, I've seen it in a bunch of online stores in Europe), and it should give you a COM port on Windows, a `/dev/cu.usbmodem...` device on macOS, and something similar on Linux. Then all the usual tools should work as normal, at least the ones that come with ESP-IDF.
On the chip or the modules, this is pins GPIO18 and GPIO19 that just need to be directly connected to USB D- and D+. Of course the chip still needs between 3.0V and 3.6V for power, so you can't power it from USB directly. If the firmware is just rebooting all the time (sometimes the case on a fresh module), you may need to pull GPIO9 low to enter bootloader instead (https://docs.espressif.com/projects/esptool/en/latest/esp32c..., there is a button for this on some boards), but otherwise you can just flash it in normal mode too.