Standard way of Creating ActiveX Components in C#

I have gone through many articles which uses different workaround to create .net based ActiveX control. But I did not find any standard way of creating ActiveX controls in C#. Can someone share me how to create and test ActiveX control in c#. Note that I have created ActiveX components in VB6 and now looking for a way to create ActiveX control in c# which might be similar to VB6.

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