Ref: Apache redirect www to non-www and HTTP to HTTPS
to
RewriteEngine On
RewriteCond %{HTTPS} off [OR]
RewriteCond %{HTTP_HOST} ^www\. [NC]
RewriteCond %{HTTP_HOST} ^(?:www\.)?(.+)$ [NC]
RewriteRule ^ https://%1%{REQUEST_URI} [L,NE,R=301]
If instead of example.com you want the default URL to be www.example.com, then simply change the third and the fifth lines:
RewriteEngine On
RewriteCond %{HTTPS} off [OR]
RewriteCond %{HTTP_HOST} !^www\. [NC]
RewriteCond %{HTTP_HOST} ^(?:www\.)?(.+)$ [NC]
RewriteRule ^ https://www.%1%{REQUEST_URI} [L,NE,R=301]