TLS Origination in Kong Gateway

We are currently using Kong Gateway for HTTPS communication but exploring to use for both of our use case HTTPS and TCP/UDP communications.
We are currently performing TLS termination but looking for an option for TLS Origination. I didn’t find sufficient documentation to enable TLS Initiation or Origination in the system.
What we are looking out is to use common gateway for all ingress and egress traffic with secured communication enabled. HTTPS is easier to achieve, and we already have that in place, but end to end encryption is not enabled for TCP/UDP traffic. Is there any guidance or documentation I can refer to implement TLS Origination through Kong gateway?