Hi Trang,
It should be possible. You’ll need a TOC plugin.
You can set the Sidebar settings through Appearance > Customize > Layout > Sidebars. Reference: https://docs.generatepress.com/article/sidebar-layout-overview/
So, it should be Sidebar / Content / Sidebar.
Then, you can add a Category List Block on the left. We have no Tabs Block yet so you’ll also need a plugin or custom code for this. We’ll need custom CSS to make it scrollable as well. We can help you with this after you’ve finished your setup.
As for the TOC, usually, TOC plugin provide a shortcode, which you can add through a Shortcode Block. One previously recommended ToC here in the forums is this: https://en-gb.wordpress.org/plugins/easy-table-of-contents/
You can add Blocks in the sidebar through Appearance > Widgets.
Or, if you want it to appear only on specific pages/post – in your case, just single posts, you can use a Block Element – Hook. Hook it to the sidebar hooks. You can view some possible Hook locations here: https://docs.generatepress.com/article/hooks-visual-guide/