The subject of Signing and Verifying messages in the frame of the CSF is based on the concept of a joined pair of keys, called the public and private key. The private key is kept secret while the public key being available to all. Both keys can encrypt data, but only the other key can decrypt that data.
This means that if you have some data that has been encrypted by a 3rd party, and you have their private key, and it decrypts correctly, then you know that the data definitely came from that 3rd party, as only they could have encrypted it. These concepts form the basics of Signing and Verifying. Further information can be acquired from https://en.wikipedia.org/wiki/Public-key_cryptography and https://en.wikipedia.org/wiki/Digital_signature
DKIM is an RFC Standard https://datatracker.ietf.org/doc/html/rfc6376 and sets out a specific method for using public/private keys to sign and verify messages. Effectively the sende