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.
Try to start with CubeMX.
As soon as you set USB interface available, it immediatly will open a set of USB devices available for your chip. You justl need to choose the one you want to use.