My advise is to buy a development board. You are unlikely to be able to make one without a lot more experience (and then likely at much more cost than a dev board!) That said the bare module part is available here
use the fixed version near the end (ESP-WROOM-32 [ESP-32S] Module-fixed.fzpz) You will need to figure out how to supply power and a USB connection to program it though, there may me guides on the ESP site for that I guess. As noted I would use a dev board to avoid trying to do that especially if you don’t have experience, but it should be possible with enough work.
Peter