This is a Chrome DevTools feature request that is tracked in crbug.com/977243 (star the bug or CC: yourself to be notified of progress). Meanwhile, it's already available in Safari's Web Inspector, see the heading Debugging Dark Mode in Apple's blog post.
How to emulate/activate prefers-color-scheme on Chrome (Desktop):
Press F12 key (or Command+Shift+C on Mac)
Click on the tree dots symbol (customize and control DevTools)
Point your mouse on the more tools option, and then click in rendering option.
the option Emulate CSS media feature prefers-color-scheme near the end it's your destination !
How to emulate/activate prefers-color-scheme on Chrome (Mobile):
Click on the tree dots symbol.
Click on Settings.
Click on theme.
Select you desired option !
Yay !!!
Edit June/22: If you want force dark colors to any website, you can browse chrome://flags/ and enable the flag: Auto Dark Mode for Web Contents (color inversion based)
On Chrome for Android, a flag was added in version 73 that adds a settings panel for dark theme, plus a checkbox for it in the browser menu. chrome://flags/#darken-websites-checkbox-in-themes-setting