It's really nothing special, just need to configure ALPN and make the right certs available...
defaults
log global
option tcplog
timeout connect 4s
timeout server 300s
timeout client 300s
# accept connections on port 443 (SSL)
# - forward HTTP/2 connections to grpc_cluster
# - ha.pem should be a concatenated file: certificate first then the key
frontend grpc
mode tcp
# advertise http/2 support via ALPN
bind :9992 ssl crt consolidated.pem alpn h2-17,h2-16
default_backend grpc_server
# GRPC servers running on port 10000
backend grpc_server