JWT signature encoder for arduino esp32

I am looking for a simple routine to generate HMACSHA256 that can be verified with
https://jwt.io/#debugger-io return hmacsha256(base64UrlEncode(header) + "." + base64UrlEncode(payload))

Example
void loop(){
char * key = "your-256-bit-secret";
char *payload = " eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJzdWIiOiIxMjM0NTY3ODkwIiwibmFtZSI6IkpvaG4gRG9lIiwiaWF0IjoxNTE2MjM5MDIyfQ";
char *checksum = hmacsha256(payload,key);
Serial.print(checksum)
}