Authenticate a console client to ASP.NET Core 2.1 Identity server

I create a simple .NET Core 2.1 server using "Identity as UI" with the default template, and then add some methods

I now need to create .NET Core 2.1 console app client to consume these methods but I can't find anything on how to authenticate that client with the server. In particular I want to authenticate and then get the authentication cookie so that I can later feed it to ie SignalR WithCookie.

As far as I understand this should be possible without an external framework like IdentityServer.

How do I do that ? is there any sample code anywhere ?

Thanks!