You can add the header into the "HEADER" section in the right column of the jwt.io debugger.
Then you add a secret in the field under "VERIFY SIGNATURE" and get a token.
Your JOSE Header contains a crit claim, which leads to a "Invalid Signature":
The "crit" (critical) Header Parameter indicates that extensions to
this specification and/or [JWA] are being used that MUST be
understood and processed. Its value is an array listing the Header
Parameter names present in the JOSE Header that use those extensions.
If any of the listed extension Header Parameters are not understood
and supported by the recipient, then the JWS is invalid.
The signature itself is fine, it's just the crit
claim, that causes an invalid signature error. As soon as you have a crit
claim with a non empty list, the verification fails on jwt.io.
You can verify the resulting token
eyJhbGciOiJIUzI1NiIsImtpZCI6IlYzdkVlNjZSSm04NWVENzIiLCJiNjQiOmZhbHNlLCJodHRwOi8vb3BlbmJhbmtpbmcub3JnLnVrL2lhdCI6MTUwMTQ5NzY3MSwiaHR0cDovL29wZW5iYW5raW5nLm9yZy51ay9pc3MiOiJDPVVLLCBTVD1FbmdsYW5kLCBMPUxvbmRvbiwgTz1BY21lIEx0ZC4iLCJjcml0IjpbImI2NCIsImh0dHA6Ly9vcGVuYmFua2luZy5vcmcudWsvaWF0IiwiaHR0cDovL29wZW5iYW5raW5nLm9yZy51ay9pc3MiXX0.eyJzdWIiOiIxMjM0NTY3ODkwIiwibmFtZSI6IkpvaG4gRG9lIn0.QrI016I1j2kKE-cth3xr8O5DUOLOrL-biUfkuVZb_Xo
(created with the secret "secret")
on https://www.jsonwebtoken.io/ and see that it can be verified. This website seems not to care about the crit
header and checks only based on the hashing.
(note: this website doesn't show the correct header and payload of your token after decoding)
Generally you should not take these online tools too serious. They're meant for testing and educational purposes, but not as a production tool.