CTR mode originally is designed for PRFs.
Any PRF* can be turned into a stream cipher with CTR mode. However, it is not preferable to use a heavy function built for MAC to use as a stream cipher. Use ChaCha for stream cipher constructed from PRF or use direct stream cipher like Trivium.
If you really want to use then use the input as $$F_k(\text{nonce_block}\mathbin\|\text{counter_block})$$ as the CTR mode and encrypt as
$$c_i = m_i \oplus F_k(\text{nonce_block}\mathbin\|\text{counter_i})$$
Make sure that
- $\text{counter_i}$ never exceed size of the $\text{counter_block}$,
- never return to initial state if counter reaches the maximum $2^{\text{counter_block_size}}-1$
- do not complicate with resumuing the counter for another encryption.
- Under above, newer let an $(IV,key)$ appear again where $IV = (\text{nonce_block}\mathbin\|\text{counter_i})$
* Actually, any is not enough for cryptography, the key size and the input and output size are important. Today we prefer xChaCha20 since it enables 192-bit nonces to avoid the nonce collision under the same key and has 512-bit input/output sizes. Chaskey's 128-bit security is enough for lightweight cryptography, however, for other purposes, it is not secure enough.