To keep it simple I created some bash scripts to quickly and easily setup a root CA and intermediate CA
These scripts will ask questions and build the json files for you executing the necessary CFSSL
commands to generate your Certificate Authority.

Please take the time to let me know how I can make the more simple

Install CFSSL https://github.com/cloudflare/cfssl
MacOS or Linux system with Bash

each of these steps will ask for all the necessary input to complete its task
If you like you can run the menu (./menu.sh) which may help getting started or not
Run Step 1 to create your root ca (this will create a directory named root)
Run Step 2 to generate CSR for your intermediate CA (this will create a directory named intermediate and create your intermediate config file)
note: these scripts allow for multiple intermediates
Run Step 3 to sign the certificates for the intermediate CA (these will be saved with _sig in the name)
Run either of the two Step 4 files to create a client or a server certificate (this will create a directory named clients)

a script to convert pem to p12

a script to add your cert to a MacOS trust store (this will need to be manually trusted)