I don't know how to do it using CLI, but below you will find how to do it using T-SQL on SSMS while been connected to an Azure SQL Managed Instance.
CREATE CREDENTIAL [https://#########.blob.core.windows.net/datbases]
WITH IDENTITY = 'SHARED ACCESS SIGNATURE'
, SECRET = 'sv=2018-03-28&ss=bfqt&srt=sco&sp=rwdlacup&se=2019-01-31T20:41:49Z&st=2019-01-01T12:41:49Z&spr=https&sig=###################################################'
RESTORE DATABASE [Chinook] FROM URL =
'https://#########.blob.core.windows.net/databases/mydb.bak'
You can also use PowerShell. You may need to install SQL Server PS Module.
#Install The SqlServer module if not installed
Install-Module -Name SqlServer
#Alternatively Use The "-AllowClobber" parameter if previous version of the SqlServer module is already installed
Install-Module -Name SqlServer -AllowClobber
#Update The SqlServer module if already installed
Update-Module -Name SqlServer
#Type the Managed instance admin login
$username = "#########"
#Type the Managed instance admin password
$password = '################'
#Type the Full Managed instance name
$managedInstance = "############.9ab5d2b08bb9.database.windows.net"
#Leave this parameter as is
$database = "master"
#Before execute the Invoke-Sqlcmd, type the address with the full database backup path
Invoke-Sqlcmd -ServerInstance $managedInstance -Database `
$database -Username `
$username -Password $password `
-Query "RESTORE DATABASE [mydb] FROM URL = 'https://#########.blob.core.windows.net/files/databases/mydb.bak'"