The best approach would be to expose your pods with ClusterIP type services, and then use an Ingress resource along with Ingress Controller to expose HTTP and/or HTTPS routes so you can access your app outside of the cluster.

For testing purposes it's ok to use NodePort or LoadBalancer type services. Whether you are running on your own infrastructure or using a managed solution, you can use NodePort, while using LoadBalancer requires cloud provider's load balancer.

Source: Official docs

You can create a service and bind it to a node port, from outside your cluster if you try to access that service using node_ip:port.

apiVersion: v1
kind: Service
metadata:
  name: api-server
spec:
  ports:
  - port: 80
    name: http
    targetPort: api-http
    nodePort: 30004
  - port: 443
    name: https
    targetPort: api-http
  type: LoadBalancer
  selector:
    run: api-server

if you do kubectl get service you can get the external ip.