Or if you're programming it using some other language, it's pretty easy too - just implement the Nordic UART BLE endpoint a bit like is done at https://www.espruino.com/Interfacing#bluetooth-le - if you google it, you'll likely find an implementation already
Espruino is a JavaScript interpreter for low-power Microcontrollers. This site is both a support community for Espruino and a place to share what you are working on.
Yes - if you use a recent Espruino build for ESP32 then this code should work fine: http://www.espruino.com/BLE+UART#receiving-evaluating
Or if you're programming it using some other language, it's pretty easy too - just implement the Nordic UART BLE endpoint a bit like is done at https://www.espruino.com/Interfacing#bluetooth-le - if you google it, you'll likely find an implementation already