I keep hearing that all I need is a developer ID to get a signing certificate, but nowhere on the developer website for Apple do I see where I can get this cert

I keep hearing that all I need is a developer ID to get a signing certificate, but nowhere on the developer website for Apple do I see where I can get this certificate without first forking over $99 for the mac Developer Program... https://developer.apple.com/resources/developer-id/ https://developer.apple.com/resources/developer-id/