This is a premium feature available with Astra Pro Addon plugin. To use this Pro feature, you need to have the Astra theme along with the Astra Pro Addon installed on your website.
And before that please verify if you have the Easy Digital Downloads plugin installed and activated.
The Easy Digital Downloads addon in the Astra Pro provides a shortcode [astra_edd_mini_cart] to display the mini cart icon anywhere you want. This can be used on page builders/sidebar widgets etc.
[astra_edd_mini_cart] had an attribute direction for the direction this should open the mini cart on hover.
Options:[astra_edd_mini_cart][astra_edd_mini_cart direction="top left"][astra_edd_mini_cart direction="bottom right"][astra_edd_mini_cart direction="top right"]
The design of the cart in the menu can be fully customized using the options in WordPress customizer. The setting can be found in the customizer under Customize > Easy Digital Downloads > General.
Related Documents:
Ultimate Guide on WooCommerce Shortcodes