You can use "autoKrige" function of the R package "automap" to first spatialize your data. Now you can extract the result in raster file using the R package "raster". This is one example based on meuse dataframe of automap:
Library(automap)
# Data preparation
data(meuse)
coordinates(meuse) =~ x+y
# Spatialisation: Here we use the Ordinary kriging with no new_data object