Visiting any foreign country usually requires "border clearance" as well as a Visa or other permit. Canada is no different but coming from the U.S. as a private aircraft might make things easier for you.
Border clearance. If you are flying a private aircraft with fewer than 15 persons on board and meet a few other requirements, you can enter and depart Canada by calling into a phone number and you may end up not having to see any customs officials at all. This is "CANPASS" and can be done via telephone, but it does require membership.
Visas. Some travelers may qualify for an Electronic Travel Authorization (eTA) which is certainly easier than a Visa.
In both cases, you need to figure this out before you depart.
Everything here is from the references shown below, with a few comments in an alternate color.
CANPASS will take the place of having to report to a customs official following border crossing but there are a number of requirements that must be met first. Not everyone is eligible, but if you are, it greatly simplifies entry and exit.
Participation in CANPASS is voluntary, but it expands where you can go and when you can go. For more details and the forms needed to apply, see: https://www.cbsa-asfc.gc.ca/prog/canpass/privateair-eng.html
See the eTA Website for more about visa-exempt foreign nationals and select visa-required countries. If you are a lawful permanent resident of the United States, you are visa-exempt.
Participation in eTA is mandatory for many of us arriving by air and needs to be done in advance. For more details and links to the application process, see: https://www.canada.ca/en/immigration-refugees-citizenship/services/visit-canada/eta.html.
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