Bart Dring has designed a development board for using CNC on Grbl ESP32:
This is a Grbl_ESP32 CNC Development board. This is a quick and easy way to use and test CNC on the ESP32 controller.
Grbl is a great CNC firmware that has been around for nearly a decade. It was originally designed for the Arduino UNO and basic 3 axis CNC routers, but it has been ported to other CPUs and was the basis for many other CNC and 3D printer firmwares.