You can find the image here: https://www.offensive-security.com/kali-linux-arm-images/
I suggest you to use Etcher to flash it since it is multi OS (Windows/Linux\MacOS): https://www.balena.io/etcher/
Flash the image to your SD card and boot up your Pi.
ssh to your pi vi this command:
ssh kali@IP_OF_YOUR_PI
the default password is "kali"
then type passwd
to change it
To remove the default SSH key do this:
sudo dpkg-reconfigure openssh-server
sudo apt update
sudo apt upgrade -y
sudo apt full-upgrade
sudo apt autoremove
sudo apt install zsh-syntax-highlighting autojump zsh-autosuggestions
sudo apt install tightvncserver -y
vncserver
vncserver -kill :1
sudo chmod +x ~/.vnc/xstartup
vncserver
You can now connect to your PI trough VNC via your IP:5901
You can take this script https://gist.github.com/Lewiscowles1986/fecd4de0b45b2029c390 I have made a mini modification to the script to make it work on kali 2020.4 the script is in this github repo.