How to place actions for the Voiceover rotor to a component

Voiceover for iOS has an accessibility feature that makes things easier. For example, on Facebook, a post can be assigned actions of like, react, comment, share, more, and so on. Recently Instagram incorporated them as an accessibility function. Skype also has, for example when scrolling through contacts or message lists are actions to delete, mark as unread, view profile, and so on.
I would like to know if it is possible to do this as I don’t find much information in the accessibility documentation. I suppose you can, because of the applications mentioned above.
The closest thing I find in the documentation is about accessibility actions, but I haven’t been able to make them work.
Here’s how to do it using Apple’s UIKit: Apple Developer Documentation

Thank you very much in advance

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