diff --git a/docs/conf.py b/docs/conf.py
index 7d0bc69f39..0a9ecf9403 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -42,6 +42,7 @@
     "sphinx.ext.intersphinx",
     "sphinx_tabs.tabs",
     "sphinxcontrib.mermaid",
+    "django_setup_configuration.documentation.setup_config_example",
 ]
 
 # Add any paths that contain templates here, relative to this directory.
diff --git a/docs/installation/setup_configuration.rst b/docs/installation/setup_configuration.rst
index 249c942aa2..a47c5a10a3 100644
--- a/docs/installation/setup_configuration.rst
+++ b/docs/installation/setup_configuration.rst
@@ -8,6 +8,10 @@ After deploying Open Forms, it needs to be configured to be fully functional. Th
 command line tool ``setup_configuration`` assist with this configuration by loading a
 YAML file in which the configuration information is specified.
 
+.. code-block:: bash
+
+    src/manage.py setup_configuration --yaml-file /path/to/your/yaml
+
 You can get the full command documentation with:
 
 .. code-block:: bash
@@ -26,16 +30,40 @@ requires specific configuration information, that should be prepared.
 Here is the description of all available configuration steps and the shape of the data,
 used by each step.
 
+All of the configuration must be part of a single YAML file that is passed to the command.
+
+OpenID Connect configuration for admin authentication
+-----------------------------------------------------
+
+.. autoclass:: mozilla_django_oidc_db.setup_configuration.steps.AdminOIDCConfigurationStep
+    :noindex:
+
+.. setup-config-example:: mozilla_django_oidc_db.setup_configuration.steps.AdminOIDCConfigurationStep
 
 Services configuration
 ----------------------
 
-TODO: add generated documentation for ``zgw_consumers.ServiceConfigurationStep``
+.. autoclass:: zgw_consumers.contrib.setup_configuration.steps.ServiceConfigurationStep
+    :noindex:
+
+.. setup-config-example:: zgw_consumers.contrib.setup_configuration.steps.ServiceConfigurationStep
+
 
 Objects API registration configuration
 --------------------------------------
 
-TODO: add generated documentation for ``ObjectsAPIConfigurationStep``
+.. autoclass:: openforms.contrib.objects_api.setup_configuration.steps.ObjectsAPIConfigurationStep
+    :noindex:
+
+.. setup-config-example:: openforms.contrib.objects_api.setup_configuration.steps.ObjectsAPIConfigurationStep
+
+ZGW APIs registration configuration
+-----------------------------------
+
+.. autoclass:: openforms.registrations.contrib.zgw_apis.setup_configuration.steps.ZGWApiConfigurationStep
+    :noindex:
+
+.. setup-config-example:: openforms.registrations.contrib.zgw_apis.setup_configuration.steps.ZGWApiConfigurationStep
 
 Execution
 =========
@@ -46,7 +74,3 @@ Open Forms configuration
 With the full command invocation, all defined configuration steps are applied. Each step is idempotent,
 so it's safe to run the command multiple times. The steps will overwrite any manual changes made in
 the admin if you run the command after making these changes.
-
-.. code-block:: bash
-
-    src/manage.py setup_configuration
diff --git a/src/openforms/contrib/objects_api/setup_configuration/models.py b/src/openforms/contrib/objects_api/setup_configuration/models.py
index 4b9eb76ff8..dbd2b1667d 100644
--- a/src/openforms/contrib/objects_api/setup_configuration/models.py
+++ b/src/openforms/contrib/objects_api/setup_configuration/models.py
@@ -7,30 +7,33 @@
 
 class SingleObjectsAPIGroupConfigModel(ConfigurationModel):
     objects_service_identifier: str = DjangoModelRef(
-        ObjectsAPIGroupConfig, "objects_service"
+        ObjectsAPIGroupConfig, "objects_service", examples=["objects-api"]
     )
     objecttypes_service_identifier: str = DjangoModelRef(
-        ObjectsAPIGroupConfig, "objecttypes_service"
+        ObjectsAPIGroupConfig, "objecttypes_service", examples=["objecttypes-api"]
     )
     documenten_service_identifier: str = DjangoModelRef(
-        ObjectsAPIGroupConfig, "drc_service", default=""
+        ObjectsAPIGroupConfig, "drc_service", default="", examples=["documenten-api"]
     )
     catalogi_service_identifier: str = DjangoModelRef(
-        ObjectsAPIGroupConfig, "catalogi_service", default=""
+        ObjectsAPIGroupConfig, "catalogi_service", default="", examples=["catalogi-api"]
     )
 
     # Renamed to be more descriptive
     document_type_submission_report: str = DjangoModelRef(
         ObjectsAPIGroupConfig,
         "iot_submission_report",
+        examples=["PDF Informatieobjecttype"],
     )
     document_type_submission_csv: str = DjangoModelRef(
         ObjectsAPIGroupConfig,
         "iot_submission_csv",
+        examples=["CSV Informatieobjecttype"],
     )
     document_type_attachment: str = DjangoModelRef(
         ObjectsAPIGroupConfig,
         "iot_attachment",
+        examples=["Attachment Informatieobjecttype"],
     )
 
     class Meta: