TBH the Cloudflare docs are very good, you won’t get a much better hand-holding walk through. You could try /r/cloudflare and their community forums next, then come back here if you have specific issues that need addressing.
Not sure if the solution matches your needs. AFAIK CF tunnels is basically a reverse proxy (http or tcp) with a tunnel initiated from local site. I am not sure if you can replicate a generic VPN.
You’re thinking of something different. Zero Trust is a full SSO+2FA capable proxy with granular permissions and access control. Server side services use the tunnel to get to the cloud so there are no open ports.