Annotating a .vcf with centimorgan information
I think a useful tool to address your question is QCTOOL v2. Particularly, the option you are looking for is -annotate-genetic-map. This tool has been developed originally for GWAS datasets. It has multiple inputs data format.
If you could provide input data as an example, I will try working on it to provide the necessary steps to be done.
Hope this answers your question.