Development tools for Zephyr on STM32Workbench for Zephyr: VS Code extension to set up, build, flash and debug Zephyr applications on STM32.Devicetree manager: browse, edit and visualize Zephyr devicetree, STM32CubeMX-like for Zephyr.
are you sure that stlink at his board support stlink vcp?
According to my tests it is not possible at that board becasue stlink fw does not support that.