After generating alignment file in any of the online MSA servers like ClustalOmega upload the same in ESPRIP tool.
Link:
https://espript.ibcp.fr/ESPript/ESPript/
I have attached a sample output file for your reference.
FYI:
ESPript, 'Easy Sequencing in PostScript', is a program which renders sequence similarities and secondary structure information from aligned sequences for analysis and publication purpose.
This image is not generated through any software. It is a manually annotated image. You can do it is any editor software like GIMP, Inkscape, Photoshop or most easy Libreoffice impress / MS Powerpoint.
If you want to do this via a more complicated, try UniPro UGENE (http://ugene.net/), PFAAT (https://pfaat.sourceforge.io/).