There is an example in the same unit, IcsJoseGetSig. There is also a sample project OverbyteIcsJoseTst.dpr that is used to test the various Jose functions, including hex, base64 and base64url encoding and decoding.
But this unit needs the OpenSSL DLLs to be distributed with your application, as does any use of SSL or encryption in ICS. And you need to initialise OpenSSL before calling those functions, see the sample application.
As others mentioned, there are Delphi only implementations of SHA256, but IcsHMACDigest more modern digests as well. and most REST applications need HTTPS.