dotproxy is an app written in Python that implements DNS-over-TLS on TCP. It does so by receiving standard DNS requests, wrapping them on an SSL-wrapped socket and resolving using 1.1.1.1 DNS resolver over TLS on port 853.
Install python 3.7 and run:
python3 server.py
Windows:
nslookup "-set vc" example.com 127.0.0.1
Linux:
dig example.com @127.0.0.1 +tcp