brew install dnscrypt-proxyEdit /usr/local/etc/dnscrypt-proxy.toml as needed. I added/modified the following lines:
server_names = ['google', 'cloudflare']
ipv6_servers = true/usr/local/opt/dnscrypt-proxy/sbin/dnscrypt-proxy -config /usr/local/etc/dnscrypt-proxy.toml -resolve google.comsudo brew services start dnscrypt-proxy(sudo is needed so the service can bind to port 53)
networksetup -setdnsservers Wi-Fi 127.0.0.1...or use the Network Preference Pane (Advanced > DNS)