I found something called "vsxmd" which will do this for you.
It generates markdown automatically from the XML documentation that is mentioned in Kevin Lindsay's answer above.
First, In Visual Studio (I'm using 2022), right click on your project and select properties. Go to Build->Output and check the box under "Documentation file" labeled "Generate a file containing API documentation." Take note of the output path under "XML documentation file path" as that is where your markdown will be generated.
Next, right click on your project and select Manage Nuget Packages. In the search box type "Vsxmd" from "nuget.org" as the package source.
Next build your project and the markdown documentation will be placed in the folder mentioned above.
For more information on Vsxmd, see https://github.com/lijunle/Vsxmd
If you want to convert the Markdown to HTML or something you can use stackedit.io or some other such tool. I suggest Markdown is probably the best choice for code documentation anyway due to its support by all of the various Git such as Github, Bitbucket, etc.