Looks like the official docs have been updated. https://www.kali.org/docs/general-use/install-nvidia-drivers-on-kali-linux/

sudo apt update
sudo apt -y full-upgrade -y
sudo reboot

After the reboot, install the drivers with

sudo apt install -y nvidia-driver nvidia-cuda-toolkit
sudo reboot

Old Instructions

Leaving these here in case someone finds them helpful.

Run the following commands to update, and install the needed NVIDIA driver

apt-get update
apt-get dist-upgrade
apt-get install linux-headers-$(uname -r)
apt-get install nvidia-kernel-dkms nvidia-xconfig

Disable the nouveau driver, and reboot.

sed 's/quiet/quiet nouveau.modeset=0/g' -i /etc/default/grub
update-grub
nvidia-xconfig 
reboot

You also might want to install these.

 apt-get install nvidia-settings nvidia-smi nvidia-cuda-toolkit