A DNS Server does not encrypt data by default.
Over TLS
DNS over TLS, DoT, encrypts DNS with TLS using UDP. This uses port 853 and is self-evident that it is encrypted but is blocked by some companies.
Over HTTPS
DoH sends queries using HTTPS. This uses port 443 which cannot be blocked by network administrators.
DNSSEC
The DNS Security Extensions is a security protocol for protecting DNS availability, integrity, and authenticity.
This method involves secure validation at each step of resolution and often incorporates DoT or DoH.