OPNsense supports native IPv6 as well as tunneled IPv6. This article shows how to set up TunnelBroker, Hurricane Electric's IPv6-in-IPv4 tunnel, with OPNsense. If you're based in the US and you use Netflix, you might not want to follow these instructions. Netflix now blocks TunnelBroker. I have confirmed this myself.
If you use IRC or need access to SMTP over the TunnelBroker connection, Hurricane Electric requires you to go through their free IPv6 certification process. Their "sage" level is the highest level and will allow you to enable IRC and SMTP. Note that your OPNsense firewall must be directly connected to the Internet. Being behind a NAT will not work.
The rest of this article assumes you already have a TunnelBroker account. If not, sign up and go through the free IPv6 certification process. Screenshots are provided throughout this article.