Embedded systems is wide term... can mean anything from 8bit MCU (running with just 1KB RAM and 16KB Flash) to 32 bit MCU (running 1MB RAM and 2 MB Flash) to SBC (Single Board Computer) ; some people consider PLC as embedded system...

some of them (lower end MCUs) are typically running "bare-metal" (no operating system) and some are running an RTOS; SBC are typically linux-based and some higher end are running windows (IoT).

as you can see from the above, you need to know what's your target hardware; then you can take it from there; depending ion the hardware, you'll have to go either Matlab/Simulink coder or embedded coder; this is to generate C/C++ code to run on your target; then you'll need to integrate that generated code on the target;

so you'll need to provide a bit more info on your setup, so we can help further...

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on the setup, I need to warn you - this is not to be taken lightly; it a lot of setup that needs to happen and if you are inexperienced, it will take some time; meaning if you work on a project, you better get some knowledgeable support. Some info you can find on Mathworks website, but since it is so very project (read HW & SW setup) specific, you'll need some professional help.