Front your services with ingress and attach it to load balancer
Here is the link of official documentation on configuring domain name with static ip address
Please refer:
https://cloud.google.com/kubernetes-engine/docs/tutorials/configuring-domain-name-static-ip
As of my understanding, there is no such thing that automates cloud dns records from endpoints.
Note: The value you set for the kubernetes.io/ingress.global-static-ip-name annotation is the name of the reserved IP resource, and not the IP itself.
For more information please go through the following tutorial to get more info about kubernetes: