With ipfwGUI it is possible to create a "workstation" type firewall and allow incoming traffic to your host. The ports to be allowed can be only be selected from a list of ports in LISTEN status for now. You need to start the listening daemon before you start ipfwGUI. ipfwGUI always permits both IPv4 and IPv6 at the same time.
ipfwGUI needs Python3 and PyQt6 to run. To install it run:
pkg install python3 py311-qt6-pyqt
# optional:
pkg install dsbsu|sudo|doas
If you run ipfwGUI as a user you can only view the current settings. To actually be able to change settings you need to run ipfwGUI with doas or sudo or dsbsu.