Create /etc/docker/daemon.json with following content.

{
  "ipv6": true,
  "fixed-cidr-v6": "2001:db8:1::/64"
}

Restart docker with systemctl restart docker.

docker run \
   -d -ti
   -p [IPV6-PUBLIC-IP]:PUBLICPORT:CONTAINERPORT
   --name test test_docker_image

SRC: https://docs.docker.com/config/daemon/ipv6/