Guide/Documentation for JWT Authentication implementation using OAuth Resource Server

Expected Behavior
Ideally there would be some official documentation of this because judging from the amount of results you can find the seems some demand for the feature, but no one seems to know it's already supported (all articles I've seen involve writing some custom logic).

Current Behavior

If you search for "spring security jwt" (we seems reasonable) you don't get any idea that this is possible via the oauth2 resource server functions, as far as I've researched it (and I've invested quite some time into it) the only reference to that seems #6315 and I only found out about that by explicitly searching though 10s of issues.

Context
This is builtin and documented well by many other web frameworks:
ASP: https://devblogs.microsoft.com/aspnet/jwt-validation-and-authorization-in-asp-net-core/
AdonisJS: https://adonisjs.com/docs/4.1/authentication#_jwt
Ktor: https://ktor.io/docs/jwt.html
And probably a lot more I didn't search for...