Hello Brijdeep! I hope you are doing great.
If you want to teach on Udemy, just go to website and there you can find an option which says " Become an Instructor". If you want details on making course, you can checkout Udemy's official Boot camp or you can also checkout my channel if that suits you.
To get you course published, you just have to complete your verification process and pass quality standards.
I hope it helps.
With best regards,