How to set up l2tp vpn on aws lightsail?

RouterOS Beginner Basics
1

Hi There
I am going to set up a server on AWS lightsail, but the L2TP VPN doesn’t work, the AWS official documents said the lightsail’s firewall just support TCP and UPD forwarding, so the ESP and AH is not officially supported. The AWS support team suggest I use UDP encapsulation as a workaround to transport ESP packets encapsulated in a UDP packet. But I don’t know how to use UDP encapsulation ESP.
Does Router OS support this function? if so, how to set it up?

Thanks.