If you’re wanting a learning resource (rather than having it “Just Work”), may I offer https://geek-cookbook.funkypenguin.co.nz/docker-swarm/ ? It’s my opinionated process on building out a swarm, much like you describe :)

I like writing docs in markdown, and using mkdocs with mkdocs-material for this. With a bit of trickery, you can do templating / transclusion, and you get a useful search too.