Hi,
I do not experience with ESP32 but the link you gave is the correct approach normally.
If you are using Mozzi 2, you should add:
#define MOZZI_OUTPUT_I2S_DAC
#define MOZZI_I2S_PIN_BCK ... // (default: 26)
#define MOZZI_I2S_PIN_WS ... // (default: 15)
#define MOZZI_I2S_PIN_DATA ... // (default: 33)
(with the correct pin numbers w/r to how the DAC is connected to the ESP) and this should work.