The command is:
bazel build --config android_arm64 tensorflow/lite:libtensorflowlite.so
This will only build the main library and NNAPI delegates, but not the GPU delegate. I've only done this for Android so far with Bazel. You can grab the output out of the bazel_out/bin directory, where the output will be in its respective directory (i.e. bazel-out/bin/tensorflow/lite/libtensorflowlite.so)
As for headers, you can copy the headers directly out of source and include them into your CMake.
I've recently tested this on TFLite 2.4.1, so it still works.