How to add bones to a mesh

Hi guys.

so, just to be clear, I know how to set up a rig, and a skeleton, but what I don't know is how to attach those bones to the mesh and have it move and bend seamlessly.

all I ever see online is how to do it in blender. Is there a way to do it in Unity alone, because I literally can't use blender and I don't have the time to learn a brand new software.

Any help is appreciated.

What I have so far, is an eyeball and I want the eye stalk to be bendable and animated. All of the joints are just empty game object atm. The top bone is connected to the eyeball, and the eyeball can rotate to look at a target. But the eyestalk at the moment is just one cylinder. I'd rather not make individual segments for the eyestalk, as it won't look like one object. But if it's the only way, I will have to settle!

Thanks in advance!