For starters, one can exec into a yb-tserver container and run the packaged cqlsh to get access to the shell. For example:
kubectl exec -it yb-tserver-0 /home/yugabyte/bin/cqlsh
To connect an external program, one needs to get the YCQL service load balancer end point. The command to get the service info and sample output is as below:
$ kubectl get services --all-namespaces
NAMESPACE NAME TYPE CLUSTER-IP EXTERNAL-IP PORT(S) AGE
...
yb-demo yql-service LoadBalancer 10.47.249.27 35.225.153.213 9042:30940/TCP 2m
So any program can use the EXTERNAL-IP of the yql-service to connect to YugaByte DB using YCQL.
Thanks for the question! We will update our docs as well to reflect these options.