文档中没有介绍
但经过分析，用法如下

获取

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request()->cookie()
request()->cookie("cookiename")

设置

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use Swoft\Http\Message\Cookie\Cookie;
$response->withCookie(new Cookie($key, $value, $expire, $path, $domain, $secure, $httponly));

补充

所有的方法封装在以下文件中
swoft\http-message\src\Server\Request.php
swoft\http-message\src\Server\Concerns\InteractsWithInput.php

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Swoft\Http\Message\Server\Request
Swoft\Http\Message\Server\Concerns\InteractsWithInput