On this GitHub repo, there is a step by step guide to deploy GCP endpoints using Cloud Run. This example follows the following quickstart: Set up Cloud Endpoints OpenAPI for Cloud Run with ESPv2.
Also, there are some other tutorials related to this topic, as follows:
Another useful quickstart is: Automate App Engine deployments with Cloud Build. There is also a community tutorial titled Creating a CI/CD environment for serverless containers on Cloud Run with GitHub Actions which would be helpful.This reference page explains the schema of the Cloud Build configuration file. For instructions on creating and using a build config file, see Creating a basic build config file.
There is also this tutorial for Continuous integration using Google Cloud Build and Create CI/CD pipeline with GitLab and Cloud Build