How to organize a gateway to i2p from the regular Internet?

Question

Computer networks

I know several services providing access to i2p sites. To open the site xxx.i2p, just enter the address xxx.i2p.us (.to), I don’t quite understand how it works. I would like to raise the same service.
There is no question of anonymity. The main thing is that users of the regular Internet can go to i2p resources without installing plugins, proxies and other things. I would be grateful for help.