DoH does not depend on a browser! Try this out with cURL

    curl --http2 -H 'accept: application/dns-json' "https://1.1.1.1/dns-query?name=cloudflare.com" --next --http2 -H 'accept: application/dns-json' "https://1.1.1.1/dns-query?name=example.com"

There are DoH resolvers[0] that you can use that act as a "middleman" between your browser (configured to use a standard DNS server) and DoH (which is more secure and private)

[0] https://github.com/DNSCrypt/dnscrypt-proxy