Both dfu-util and dfu-tool can flash firmware, but their current versions can’t reset the STM32 from DFU mode to run the application.
I found that using MicroPython’s pydfu.py is able to reset the. Note that currently I use pydfu.py only for resetting, not for flashing (but that might change in the future).
Download using
wget https://raw.githubusercontent.com/micropython/micropython/master/tools/pydfu.py
Install the PyUSB dependency using
sudo pip3 install pyusb
And then reset the STM32 in DFU mode:
python3 pydfu.py -x