iPhone Calls Not Available from iPad Pro M1

When I try to call from my iPad though the iPhone, I receive the following message:

iPhone Calls Not Available

Your iPhone must be signed in with the same Apple ID for FaceTime and iCloud to make phone calls from this iPad.

But both my iPhone and iPad are on the same iCloud, FaceTime, etc. I can even receive calls on my iPad, but I can’t do them from the iPad.

The iPad is Wi-Fi only.

Could you guys help me?

Thanks