To access to google cloud API, you need an OAuth2 access_token and you can generate it with user credential (and after a gcloud auth login)
So, you can call this command or directly the API with an access token in parameter
Example with curl
curl -H "Authorization: Bearer $(gcloud auth print-access-token)"
EDIT
As explained before, a user credential created with gcloud auth login can only, today, create an access_token.
Access token are required to access to Google API (included Google Cloud products). If it's your use case, you can use it.
However, if you need an id_token, for example to access to private Cloud Functions, private Cloud Run, App Engine behind IAP, you can't (not directly, I have a fix for this if you want).