Assuming you are already connected Pocket-beagle to the Internet via WIFI.
Follow the step to install and config VNC Server.
1) sudo apt update
2) sudo apt dist-upgrade
3) restart
4) sudo apt install xfce4
5) sudo apt install tightvncserver
6) restart
7) now to start the server type: vncserver
8) first time it asks to create a password(this is not your login password), enter a new vncserver password.
9) then it asks whether you need password for "view only capability", we dont need it.
10) your vncserver will start.
11) open TightVNC viewer and enter your IP ex: 192.168.xx.xxx:1
12) next time once you restart the beagle, you can start the server by typing vncserver in terminal.