While HifiBerry and IQAudio offer a (certified) RoonReady image for their HATs, for other boards you will need to run Linux with a manual installation of Roon Bridge on your Pi.
You can follow this step-by-step guide for a Raspbian/Roon Bridge installation.
I’m not sure which overlay needs to be configured for your MamboBerry – you’ll have to consult DAC’s documentation for that.