# echo "deb http://deb.debian.org/debian/ unstable main" > /etc/apt/sources.list.d/unstable.list
# echo -e "Package: *\nPin: release a=unstable\nPin-Priority: 150\n" > /etc/apt/preferences.d/limit-unstable
# apt-get update && apt-get install wireguard-dkms wireguard-tools
# modprobe wireguard && lsmod | grep wireguard

Host A

root@hosta # wg genkey > privateA
root@hosta # wg pubkey < privateA > publicA

Host B

root@hostb # wg genkey > privateB
root@hostb # wg pubkey < privateB > publicB

Link-Network: 172.24.0.0/30
HostA: 172.24.0.1/30
HostB: 172.24.0.2/30

Host A

root@hosta # cat /etc/wireguard/wg0.conf
# HostA - HostB
[Interface]
Address = 172.24.0.1/30
PrivateKey = <contents of privateA>
ListenPort = 51820

[Peer]
PublicKey = <contents of publicB>
AllowedIPs = 172.24.0.2/32

Host B

root@hostb # cat /etc/wireguard/wg0.conf
# HostB - HostA
[Interface]
Address = 172.24.0.2/30
PrivateKey = <contents of privateB>
ListenPort = 51820

[Peer]
PublicKey = <contents of publicA>
AllowedIPs = 172.24.0.1/32
# Uncomment if HostB is behind NAT Router
# PersistentKeepAlive = 25

Issue on both hosts

root@hosta # wg-quick up wg0
root@hostb # wg-quick up wg0

Host A

root@hosta # wg
interface: wg0
  public key: PUBLIC-KEY-A
  private key: (hidden)
  listening port: 51820

peer: PUBLIC-KEY-B
  endpoint: 185.69.244.140:25920
  allowed ips: 172.24.0.2/32
  latest handshake: 1 minute, 44 seconds ago
  transfer: 2.80 MiB received, 1.09 MiB sent

Host B

root@hostb # wg
interface: wg0
  public key: PUBLIC-KEY-B
  private key: (hidden)
  listening port: 51820

peer: PUBLIC-KEY-A
  endpoint: 144.76.72.57:51820
  allowed ips: 172.24.0.1/32
  latest handshake: 21 seconds ago
  transfer: 1006.68 KiB received, 2.57 MiB sent
  persistent keepalive: every 25 seconds