The internal DAC in most of these microcontrollers is way too slow for VGA. According to this[1], for STM32 you can generally expect at most 1MHz without external additions; that's way too slow even for e.g. 320x240 which has a pixel clock of over 10MHz.

A lot of hobbyist projects use simple improvised DACs made with a few resistors. Here are mine for the ESP32[2] and the RP2040[3] (Raspberry Pi Pico), both use 320x240 (just the standard 640x480 with half the pixel clock and every line repeated to half the resolution in both width and height).

[1] https://www.st.com/resource/en/application_note/an4566-how-t...

[2] https://github.com/moefh/esp32-loser

[3] https://github.com/moefh/pico-loser

RP2040 and RP2350 PIO makes producing VGA signals criminally easy.

But many other µCs can do it too, at least to some degree. Even Atmels.