System Preferences > Control Center > Battery section, make sure either Show in Menu Bar or Show in Control Center (or both) are active. Then with the Mac connected to AC power, click on the battery icon in the menu bar or control center, and select the option to Charge to Full Now.

Note that the option to charge to full is only available if the charging is on hold. If the Mac is below 80% and charging to that 80% for health reasons, or if it's already charging to full, the option is not available. For example, I've been running on battery occasionally for the past few days, so my Mac is not currently holding at 80% and is right now charging to full, so the battery info shows the time remaining until full charge:
