dnscrypt supports ODoH so any device capable of running that will do. Other than that, you'll need individual app support (like browsers for instance).

If you want support on mobile devices without VPN-like apps, I think the best way to set it up would be to run something like a PiHole or equivalent, configure dnscrypt as your upstream, and then set up DoH/DoT from your phone to your DNS server. Mobile phones can do DoT/DoH natively already, but I don't think any commercial mobile OS has extended support to ODoH.

In theory you may be able to run dnscrypt in the background and point your DNS resolver to that, but I doubt it'll work reliably.