I am just asking what the uC is supposed to do with this data. And I'm asking because there is a chance that the ESP itself could already control something, for example. I also wanted to tip you on the handle of the open door (so that you don't knock it down), because there are plenty of examples and software on the web but ok.
Let's assume that the project is complex and you actually need an external uC.
I would start by connecting the ESP via an adapter (LVTTL or a divider on resistors for TTL signals) to the PC, so that you can see what happens in the module itself when a command is issued.
Connection for the adapter with LVTTL level :
or for TTL level:
The Esp can operate in several modes i.e. connect to an existing WIFI network, create a new WIFI network or mixed.
I assume that you would like to connect to an existing network. First you need to check the appropriate connection speed (9600 - usually or 115200). After connecting using any terminal, e.g. RealTerm, send the AT(+CRLF) command if the response is clear then ok, if not then change the connection speed.
Once you have this figured out, type :
AT+CWMODE=3 - change of operation mode to AP+STA
AT+RST - restart module
AT+CWLAP - search for available WIFI networks
AT+CWJAP=“NAME”,“PASSWORD” - connecting to selected network
AT+CIFSR - checking the IP address which the module received from the router
AT+CIPSERVER=1,9999 - set TCP server on port 9999
ITD...
In addition, there are a couple of ready-made IDEs to upload to the ESP. I recommend nodemcu (which is not without its flaws) but for simple applications it will suffice. With it you can, for example, set a name and password for the network (you do this only once) and the module will automatically connect to the selected network after every reset or connection break. Additionally, with a few lines of code (written into the module) you can set it up as a connectionless server - what you send to the module via the terminal, the module will send to the uC and vice versa.
As I mentioned you don't reveal what you would like to achieve (turn on a light, open a gate, read the temperature, or maybe blow something up with a nuke

), however if you decided to reveal the task I would probably offer a ready-made solution - probably without writing programs.
If you have any questions attack...
PS. documentation attached - AT commands