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See the User Guide in Package Builder's "Help" menu in the menu bar.
In Package Builder's preferences, enter the Apple ID of your developer account. Because the underlying Apple tools used for notarization do not support two-factor authentication with the Apple ID, you will need to create an "app-specific password" for Package Builder to use with your account.
After that, in the package settings in the sidebar, turn on Notarize with Apple, and select your Apple ID.
During the build process, Package Builder will submit the pkg to Apple for notarization and wait until it finishes. Once finished, the pkg and any applications inside of it are then notarized, and the resulting pkg is then stapled with the notarization ticket.
To have DMG Canvas trigger the building of a Package Builder document, and use the resulting .pkg file in the disk image: