* Instead of having all boot related files (start4.elf, kernel.img, ...) on the first partition of the SD card, you instead have a single boot.img FAT image containing those files instead.
* You sign that file with your own RSA 2048 key and place a boot.sig containing the signature next to the boot.img file.
* You flash the Pi4 EEPROM and include your public key and some additional EEPROM settings.
* You instruct the EEPROM to burn the hash of your public key into the Pi's OTP memory. Once that's done, the key cannot be changed and the Pi will not boot into anything not signed with your key.
* Optionally you can also place keys for disk encryption into the OTP memory and use that to encrypt everything except the boot files. That way it should be pretty hard to access them as you cannot run a rogue OS to read the OTP memory due to secure boot.
References:
* https://github.com/raspberrypi/usbboot/blob/master/secure-bo...
* https://github.com/raspberrypi/usbboot/blob/master/docs/secu... (441KB PDF)