This is a basic example of using the elastio-asset-account-stack-set terraform module with the self-managed AWS Cloudformation StackSet.
You can deploy it even within a single account. Just specify the template_url input variable at minimum.
You can specify the admin_account_aws_profile and asset_account_aws_profile to use separate Admin and Asset accounts. If you don't specify them, then the default AWS account configured in your environment will be used as both the Admin and the Asset account.