If you'd like to connect a board with native CAN Peripheral support, the Adafruit CAN Pal Transceiver will take the 3V logic level signals and convert them to CAN logic levels with the differential signaling required to communicate. Note that not all chips have a CAN peripheral! Some that we know do have it are the ESP32/ESP32-S2/ESP32-S3 (note that ESP32 calls this interface TWAI not CAN) series of chips, SAME51, STM32F405, or Teensy 4.