Continuing the discussion from Hosting My Chatbot:
Hi @marcos.allysson ,
Apologies for the very late reply.
I did this almost a year back and there were no direct links on how to achieve this, I somehow figured it out. 
Not sure about now or if there is a better way.
The way I deployed rasa bot to heroku, is with help of docker and github actions. Just understanding the basics is quite enough. Once your bot is ready, you need to have DockerFiles for both the NLU part and action server. It’s pretty staright forward till this and you can find Tutorials for this on YT, blogs etc.
Then specific to heroku, you need to add a heroku.yml file in the git repo(This is the file that heroku reads first and runs as configured)
Finally, add a workflow.yml file and configure it to deploy the bot on push/pull to the repo.(This is the github actions part. This allows us to overcome the slugsize exceeded issue).
Please refer to this repo to see the implementation, a bot which I hosted in a similar fashion. https://github.com/sanjayrjs16/CoronaSafeBot-Heroku