Hi Zachary,
I know what you mean, the number of services in Azure (and the documentation) is huge these days, so hard to sift through the weeds to find what you need.
From what you describe above, you are after "Azure Site Recovery".
This service will continuously replicate your existing Virtual Machines to an encrypted Recovery Services Vault. From there, you can then fail over (for testing or during a real disaster) to Azure.
Process at a high level:
- Setup the environment in Azure - How-to Guide
- Setup the on-premises side - How-to Guide
- Setup the replication - How-to Guide
- Run a test failover - How-to Guide
- Failover to Azure - How-To Guide
General overview of the service and all related documentation can be found here:
https://learn.microsoft.com/en-us/azure/site-recovery/site-recovery-overview
Hope this helps, but let us know if you have any questions/problems,
Stephane