KNP Menu Symfony 4 Custom using twig template

  html, knpmenubundle, symfony, symfony4, twig

I’m trying to create custom KNP Menu from knplabs/knp-menu-bundle using a template/html twig
But I can’t figure out how to do it even following the tutorial
Also I can do it by creating it as a service and using the MenuBuilder.php file.
How do I create a knp menu as service using a twig template?

Source: Symfony Questions