Below are steps to how I created a front-end page using a controller in Magento 2.

Create folders and paths as this example. Replace AzCodez\Page with your module.
- app\code\AzCodez\Page\Controller\Action\Index.php
In Index.php add the below code.
- This class creates a page and sets page contents to 'Hello From Custom Page'
- Replace AzCodez\Page with your module.

<?php
/**
 * Render page
 * 
 */
namespace AzCodez\Page\Controller\Action;

use Magento\Framework\View\Result\PageFactory;
use Magento\Framework\App\Action\Action;
use Magento\Framework\App\Action\Context;
use Magento\Framework\Controller\ResultInterface;

/**
 * Class Index
 * @package AzCodez\Page\Controller\Action
 */
class Index extends Action
{

     /**
     * @var PageFactory
     */
     protected $_pageFactory;

     /**
     * Index constructor.
     * @param Context $context
     * @param PageFactory $pageFactory
     */
     public function construct(
        Context $context,
        PageFactory $pageFactory
    )
    {
        $this->_pageFactory = $pageFactory;
        return parent::__construct($context);
     }

     /**
     * @return ResultInterface
     */
     public function execute()
     {
        $result = $this->resultFactory->create(\Magento\Framework\Controller\ResultFactory::TYPE_RAW);
        $result->setContents('Hello From AzCodez Custom Page');
        return $result;
     }

}

Create a route to route the page to the frontend. Replace AzCodez\Page with your module.
- This is the file path app\code\AzCodez\Page\etc\frontend\routes.xml

Add code for route. Replace AzCodez_Page with your module name

<?xml version="1.0"?>
<config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="urn:magento:framework:App/etc/routes.xsd">
  <router id="standard">
      <route id="product_list" frontName="product_list">
          <module name="AzCodez_Page" />
      </route>
  </router>
</config>

Run deploy commands

If not running docker remove docker-compose run --rm deploy magento-command and replace with php bin/magento

rm -rf generated/code/* && 
rm -rf pub/static/frontend/* && 
rm -rf pub/static/adminhtml/* && 
docker-compose run --rm deploy magento-command setup:upgrade && 
docker-compose run --rm deploy magento-command setup:di:compile && 
docker-compose run --rm deploy cloud-deploy && 
docker-compose run --rm deploy magento-command cache:clean && 
docker-compose run --rm deploy magento-command cache:flush

Load the page http://magento2.docker/product_list/action/index

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