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It'd be done using AWS::Lambda::Url function. Please refer AWS Cloudformation Documentation.
In addition to this, you'll need to add function URL permissions to lambda function using cloudformation function AWS::Lambda::Permission
Action: 'lambda:InvokeFunctionUrl'
Principal: <based on your requirement, it can be *>
Resource: <Lambda function>
Also you can consider adding condition while adding permission for lambda:FunctionUrlAuthType: "NONE/AWS_IAM"
Hope you find this useful.
Comment here if you have additional questions, happy to help.
Abhishek