You cannot find these via Google search easily due to DMCA takedowns, but here is the standard workflow for enthusiasts:
If you download a raw Japanese episode + a separate .ass or .srt subtitle file: doraemon in english subtitles
In the United States and UK, Amazon Prime Video hosts several Doraemon movies. Specifically, the newer CGI films like Stand by Me Doraemon (2014) and Stand by Me Doraemon 2 (2020) are available with perfect English subtitles. These are high-budget, emotional retellings of the classic stories and a fantastic starting point. You cannot find these via Google search easily