As we know, there are some existing Lua SDK such as NodeMCU, esp-open-rtos, but them are not support for both Esp32 at this time, and some of them are not support multi-task.
ESPlorer: is a Integrated Development Environment (IDE) for ESP8266 developers. LuaNode is compatible for Esplorer. Developers can use it to run and test lua program, as well as download lua code to ESP32
https://hackaday.io/project/18666-luanode-for-esp32