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If you are planning to migrate completely to cloud, it is easy and straight forward process to move your on-premise servers to Azure cloud using Azure Migrate. Azure Migrate provides a centralized hub to assess and migrate to Azure on-premises servers, infrastructure, applications, and data. More info - https://learn.microsoft.com/en-us/azure/migrate/migrate-services-overview
Support matrix for physical server migration
If you are looking for business continuity and disaster recovery (BCDR) strategy, then Azure Site Recovery is the right option. You can have you on-premise machines running and just replicate them to Azure. In the event, of disaster you can failover to Azure.
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