Oengganti ?
If you had success using a tip120 with a 5volt Arduino, but not with a 3.3 volt esp32 then I would assume you have wired it incorrectly. The classic error is to use such an NPN transistor on the high side, making the voltage dependent on the voltage the base is being driven at.
Anyway, it will all become clear when you post a circuit diagram, as already requested.