ESP32 has two 8-bit DAC (digital to analog converter) channels, connected to GPIO25 (Channel 1) and GPIO26 (Channel 2)
Max output voltage =3.2V
Conversion speed = 7.2 micro seconds
Max output frquency for Sine = 1.25 kHz
Example code :
#include <driver/dac.h>
dac_output_enable(DAC_CHANNEL_1);
dac_output_voltage(DAC_CHANNEL_1, 200);
ESP32 Digital to Analogue Converter
Making your ESP32 Talk! Version 2 (DAC Audio)