Commonly that's NAT64, which maps v4 into the v6 address space. The resulting service is v6-only (you only get a v6 address and have to talk v6 to the ISP) but you can reach v4 servers by talking to the v6 addresses to which they've been mapped.
Some applications will still fail to work though unless you also have 46 nat on your device which still doesn’t work transparently on majority of types of device.
You also need all devices on your lan to support v6 natively, and v6 only. From your printer to your speaker.
You might be able to do something with mdns and nat64 to get them working on an IPv4 only subnet. But you’re talking layers and layers of complexity for things which just have to work.
I’m posting this from my phone on my IPv6 only subnet, not sure if it’s using a 64 gateway or 6 native to HN, but it’s possible.