There are many development platforms for ESP32 (ESP-WROOM-32). In some situations, using Linux or cygwin in Windows are quite intimidating for beginners. Using Arduino IDE is a more user-friendly approach.
1. Add The Board URL to Arduino IDE
Open Arduino IDE (I am using version 1.8.0). An installation tutorial for Arduino IDE can be found here. Navigate to File > Preferences and click the circled button as shown below: