I just did that using Safari 13.1.1 (on Catalina 10.15.5).

1. Open Chrome (if not already running) to refresh its cache
2. Quit Chrome completely (⌘-Q)
3. Open Safari (if not already running)
4. Click File > Import From > Google Chrome..., select Password (and, optionally, Bookmarks and/or History), click Import
5. Enter login password & click Allow twice (once to use "Chrome Safe Storage" information, and once to access it)
6. Voilà, all your preciously maintained Chrome passwords are available in Keychain across all your devices & apps!

This is a one-time operation and has to be repeated periodically; it also does not provide synchronization the other way...

Welcome to the Apple Support Communities.

You cannot all at once, but moving forward, use iCloud Keychain: Set up iCloud Keychain - Apple Support.

Jack