I used the accepted answer to this question to create base64Url string <-> arrayBuffer conversions in the realm of base64Url data transmitted via ASCII-cookie [atob, btoa are base64[with +/]<->js binary string], so I decided to post the code.
Many of us may want both conversions and client-server communication may use the base64Url version (though a cookie may contain +/ as well as -_ characters if I understand well, only ",;\ characters and some wicked characters from the 128 ASCII are disallowed). But a url cannot contain / character, hence the wider use of b64 url version which of course not what atob-btoa supports...
Seeing other comments, I would like to stress that my use case here is base64Url data transmission via url/cookie and trying to use this crypto data with the js crypto api (2017) hence the need for ArrayBuffer representation and b64u <-> arrBuff conversions... if array buffers represent other than base64 (part of ascii) this conversion wont work since atob, btoa is limited to ascii(128). Check out an appropriate converter like below:
The buff -> b64u version is from a tweet from Mathias Bynens, thanks for that one (too)! He also wrote a base64 encoder/decoder:
https://github.com/mathiasbynens/base64
Coming from java, it may help when trying to understand the code that java byte[] is practically js Int8Array (signed int) but we use here the unsigned version Uint8Array since js conversions work with them. They are both 256bit, so we call it byte[] in js now...
The code is from a module class, that is why static.
//utility
/**
 * Array buffer to base64Url string
 * - arrBuff->byte[]->biStr->b64->b64u
 * @param arrayBuffer
 * @returns {string}
 * @private
 */
static _arrayBufferToBase64Url(arrayBuffer) {
    console.log('base64Url from array buffer:', arrayBuffer);
    let base64Url = window.btoa(String.fromCodePoint(...new Uint8Array(arrayBuffer)));
    base64Url = base64Url.replaceAll('+', '-');
    base64Url = base64Url.replaceAll('/', '_');
    console.log('base64Url:', base64Url);
    return base64Url;
}
/**
 * Base64Url string to array buffer
 * - b64u->b64->biStr->byte[]->arrBuff
 * @param base64Url
 * @returns {ArrayBufferLike}
 * @private
 */
static _base64UrlToArrayBuffer(base64Url) {
    console.log('array buffer from base64Url:', base64Url);
    let base64 = base64Url.replaceAll('-', '+');
    base64 = base64.replaceAll('_', '/');
    const binaryString = window.atob(base64);
    const length = binaryString.length;
    const bytes = new Uint8Array(length);
    for (let i = 0; i < length; i++) {
        bytes[i] = binaryString.charCodeAt(i);
    }
    console.log('array buffer:', bytes.buffer);
    return bytes.buffer;
}