How to set up a Zephyr Project App in VSC?

I am trying to use VSC to develop and debug embedded C applications with Zephyr OS. Is this possible? Are there instructions to set this up? Is there a zephyr setup extension? The Zephyr documentation discusses how to debug apps on eclipse, and there is an eclipse/zephyr plug-in, but I'd prefer to use VSC if possible.

Since Zephyr utilizes CMake, I thought I follow the VSC CMake project tutorial. When it asks to select a kit, there was nothing appropriate for zephyr, so I left it with no active kit selected. With this setting, I am actually able to get a successful build for the blinky example but cannot debug the project. The error I get is:

ERROR: Unable to start debugging. Unexpected GDB output from command "-exec-run". Don't know how to run. Try "help target". The program '/home/mustafa/Code/Sycamore/hello_world/build/zephyr/zephyr.elf' has exited with code 42 (0x0000002a).

If anyone has any input on how to address this error or instructions on setting up a zephyr project in VSC, that would be great. Thx!