The ESP32 community created an add-on for the Arduino IDE that allows you to program the ESP32 using the Arduino IDE and its programming language.
This tutorial shows how to install the ESP32 board in Arduino IDE whether you’re using Windows, Mac OS X or Linux.
Github:
https://github.com/espressif/arduino-esp32
Stable release link:
https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json