Generate Height Above the Nearest Drainage (HAND) using QGIS

Actually, I did not generate HAND from DEM before, but based on High Resolution Hydrography and Hydrologic Modeling PDF reference file, they use TauDEM tool accessed from ArcGIS, as you can see in Slide No. 10. TauDEM tool can be accessed from QGIS: TauDEM algorithm provider but you need to it install it separately from Utah State University and configure it manually.

Here is the TauDEM tool in QGIS.