How to upgrade cluster without kubeadm

I am learning kubernetes and I need some help with upgrading master node (lets say from version 1.18 to 1.19). I know how to upgrade with kubeadm. But what is the correct way to upgrade master node (all components) without kubeadm. Control plane components are static pods, kube-proxy daemonset. There is also kubelet on master node which is systemd service. I would like to upgrade all components on the master node.

Thanks for help.