Using model items.
A drawing view produced to start with. Go to insert, model items.
I have selected dimensions marked for drawing and not marked for drawings - in this ismple case, all dimensions. You might also need to select geometric and weld symbols etc.
The dims are added, copied from your model.
The dimensions are a two way parametric link. The dimensions can be modified in the drawing, these will change the size of the model. Here I have added a tolerance.
And the tolerance is shown in the model.