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The openapi-generator has several different generators which can read in a yaml file and output code in your preferred language. Some of the generators include java, html, html2, spring, and javascript. The comprehensive list of generators can be found here.
The openapi-generator can be ran via CLI, as well as its maven and gradle plugins.
Since you already have a valid openapi specification file, I'd recommend using the generator to generate a spring server using the spring-boot library and set the documentationProvider to springdoc. This will generate the spring java classes with appropriate springdoc annotations as well as the swagger-ui.html endpoint you are requesting.
Including Springdoc v2 dependency into pom.xml generated a Swagger UI page based on the component-scanned controllers accessible at http://localhost:8080/swagger-ui/index.html and its OpenAPI description at http://localhost:8080/v3/api-docs.
<dependency>
<groupId>org.springdoc</groupId>
<artifactId>springdoc-openapi-starter-webmvc-ui</artifactId>
<version>2.0.4</version>
</dependency>
Note I use Spring Boot 3.0.2