How to format Samsung T7 SSD for Apple devices

In Disk Utility, from the View menu select "Show all devices" or from the little View icon in the Disk Utility window.

Then select the Samsung device, not any volumes listed under it, then click on the erase icon. There you will be able to select partition scheme and the format, which as previously stated should be GUID and APFS.

By default the view is for Volumes only which is why you cannot access APFS as a choice and you need to set it to show devices.

Doh! Thanks for reminding me of that "double disguise a GUI element" that Apple uses.

So I reword my early morning before enough coffee reply (which might still be too terse):

/Applications/Utilities/Disk Utility.app > View > Show All Devices [Command-2] > [select the device, not any volumes listed under it] > Edit > Erase... [Shift-Command-E] > Name : [type the desired name for the device], Scheme: GUID Partition Map, Format: APFS > Erase. ...notice that the 1st attempt might not succeed because some background process might be too eager to finish its job, so try again if that happens.

I hope that is good enough for a future boilerplate answer 😃

Select Partition scheme: GUID, then APFS.

Just to clarify Matti's answer . . .