Cloudflare's WARP VPN uses a slightly modified version of the WireGuard protocol, but it remains backwards compatible with the normal WireGuard client software. This means you can connect to it on platforms which don't yet have an official WARP client, e.g. your computer or EdgeOS-based router.
Generate a WireGuard keypair, as usual:
wg genkey | tee private.key | wg pubkey > public.key