Stripe offers on-site credit card payments with a JavScript client.
Stripe (Legacy) gateway uses the v2 JS API to tokenise a credit card and to charge it. It does not support 3DS. For 3DS, use the Stripe - Card gateway
Creating a Stripe Payment Method
See Payment Methods for the basics of creating a payment method.
Stripe requires a Secret Key and Publishable key to be configured, both of which can be found under Account Settings > API Keys in the Stripe dashboard.