discord.js v13でロールパネルを作ってみましょう！
今回はテキストコマンドのコードを用意しました！

"discord.js": "^13.16.0"

const Discord = require('discord.js');
const client = new Discord.Client({ intents: ["GUILDS", "GUILD_MESSAGES"] });
const prefix = '!' //お好みで変更
client.on('messageCreate', async (message) => {
    if (message.content.startsWith(`${prefix}rp`)) {
      try{
      if(!message.member.permissions.has('MANAGE_ROLE')) return message.reply('権限が足りません');
        const str = message.content.replace(/<@&|>/g,'')
        const args = str.split(' ');
        if (args.length < 1 || args.length > 20) {
            message.reply('正しい引数を入力してください');
            return;
        }

        const role1 = message.guild.roles.cache.get(args[1]);
        const role2 = message.guild.roles.cache.get(args[2]);
        const role3 = message.guild.roles.cache.get(args[3]);
        const role4 = message.guild.roles.cache.get(args[4]);
        const role5 = message.guild.roles.cache.get(args[5]);
        const role6 = message.guild.roles.cache.get(args[6]);
        const role7 = message.guild.roles.cache.get(args[7]);
        const role8 = message.guild.roles.cache.get(args[8]);
        const role9 = message.guild.roles.cache.get(args[9]);
        const role10 = message.guild.roles.cache.get(args[10]);
        const role11 = message.guild.roles.cache.get(args[11]);
        const role12 = message.guild.roles.cache.get(args[12]);
        const role13 = message.guild.roles.cache.get(args[13]);
        const role14 = message.guild.roles.cache.get(args[14]);
        const role15 = message.guild.roles.cache.get(args[15]);
        const role16 = message.guild.roles.cache.get(args[16]);
        const role17 = message.guild.roles.cache.get(args[17]);
        const role18 = message.guild.roles.cache.get(args[18]);
        const role19 = message.guild.roles.cache.get(args[19]);
        const role20 = message.guild.roles.cache.get(args[20]);
      const guildRoles = message.guild.roles.cache;
      let dr = `${role1}`
      let role = role1.id;
      let options = {label: role1.name,value: '1'}
      if(role2){dr = `${dr}\n${role2}`;role = `${role} ${role2.id}`;options = [options,{label: role2.name,value: '2'}]}
      if(role3){dr = `${dr}\n${role3}`;role = `${role} ${role3.id}`;options = [options,{label: role3.name,value: '3'}]}
      if(role4){dr = `${dr}\n${role4}`;role = `${role} ${role4.id}`;options = [options,{label: role4.name,value: '4'}]}
      if(role5){dr = `${dr}\n${role5}`;role = `${role} ${role5.id}`;options = [options,{label: role5.name,value: '5'}]}
      if(role6){dr = `${dr}\n${role6}`;role = `${role} ${role6.id}`;options = [options,{label: role6.name,value: '6'}]}
      if(role7){dr = `${dr}\n${role7}`;role = `${role} ${role7.id}`;options = [options,{label: role7.name,value: '7'}]}
      if(role8){dr = `${dr}\n${role8}`;role = `${role} ${role8.id}`;options = [options,{label: role8.name,value: '8'}]}
      if(role9){dr = `${dr}\n${role9}`;role = `${role} ${role9.id}`;options = [options,{label: role9.name,value: '9'}]}
      if(role10){dr = `${dr}\n${role10}`;role = `${role} ${role10.id}`;options = [options,{label: role10.name,value: '10'}]}
      if(role11){dr = `${dr}\n${role11}`;role = `${role} ${role11.id}`;options = [options,{label: role11.name,value: '11'}]}
      if(role12){dr = `${dr}\n${role12}`;role = `${role} ${role12.id}`;options = [options,{label: role12.name,value: '12'}]}
      if(role13){dr = `${dr}\n${role13}`;role = `${role} ${role13.id}`;options = [options,{label: role13.name,value: '13'}]}
      if(role14){dr = `${dr}\n${role14}`;role = `${role} ${role14.id}`;options = [options,{label: role14.name,value: '14'}]}
      if(role15){dr = `${dr}\n${role15}`;role = `${role} ${role15.id}`;options = [options,{label: role15.name,value: '15'}]}
      if(role16){dr = `${dr}\n${role16}`;role = `${role} ${role16.id}`;options = [options,{label: role16.name,value: '16'}]}
      if(role17){dr = `${dr}\n${role17}`;role = `${role} ${role17.id}`;options = [options,{label: role17.name,value: '17'}]}
      if(role18){dr = `${dr}\n${role18}`;role = `${role} ${role18.id}`;options = [options,{label: role18.name,value: '18'}]}
      if(role19){dr = `${dr}\n${role19}`;role = `${role} ${role19.id}`;options = [options,{label: role19.name,value: '19'}]}
      if(role20){dr = `${dr}\n${role20}`;role = `${role} ${role20.id}`;options = [options,{label: role20.name,value: '20'}]}
      
        let row = new Discord.MessageSelectMenu().setCustomId('rp').setPlaceholder('ロールを選択してください').addOptions(options).setMinValues(1).setMaxValues(1);
       const menu = new Discord.MessageActionRow()
      .addComponents(row)
        const embed = new Discord.MessageEmbed()
            .setTitle('ロールパネル')
            .setDescription(`${dr}`)
            .setColor("GREEN")
      
        const sentEmbed = await message.channel.send({ embeds: [embed], components: [menu] });
      
        await message.delete();
      }catch(e){
        message.reply('エラーが発生しました')
      }
    }
});

client.on('interactionCreate', async (interaction) => {
  try{
    if (!interaction.isSelectMenu()) return;
  
    if(!interaction.customId === 'rp') return;
    const description = interaction.message.embeds[0].description.replace(/<@&|>/g,'');
    const args = description.split('\n');
    let num = parseInt(interaction.values[0])
    const roleId = args[num-1]
    const role = interaction.guild.roles.cache.get(roleId);
    
    if(!role){
      const reply = await interaction.channel.send(`<@${interaction.member.id}> 失敗しました`)
        setTimeout(() => {
  reply.delete();
}, 3000);
              
              await interaction.update({
  components: interaction.message.components.map(row => {
    return {
      type: 'ACTION_ROW',
      components: row.components.map(component => {
        if (component.customId === interaction.customId) {
         
          component.options.forEach(option => option.default = false);
        }
        return component;
      })
    };
  })
});
     return;
    }    
    const member = interaction.guild.members.cache.get(interaction.user.id);
    const hasRole = member.roles.cache.some(role => role.id === roleId);
    const embed = new Discord.MessageEmbed()
      .setColor('GREEN')
    if (hasRole) {
      try{
        await member.roles.remove(role);
        const reply = await interaction.channel.send({ content: `<@${interaction.member.id}>` ,embeds: [embed.setDescription(`${role} を剥奪しました`)]});
setTimeout(() => {
  reply.delete();
}, 3000);
      }catch(e){
        const reply = await interaction.channel.send(`<@${interaction.member.id}> 失敗しました`)
        setTimeout(() => {
  reply.delete();
}, 3000);
      }
    } else {
      try{
        await member.roles.add(role);
        const reply = await interaction.channel.send({ content: `<@${interaction.member.id}>` ,embeds: [embed.setDescription(`${role} を付与しました`)]});
setTimeout(() => {
  reply.delete();
}, 3000);
      }catch(e){
        const reply = await interaction.channel.send(`<@${interaction.member.id}> 失敗しました`)
        setTimeout(() => {
  reply.delete();
}, 3000);
      }
    }  
    
    await interaction.update({
  components: interaction.message.components.map(row => {
    return {
      type: 'ACTION_ROW',
      components: row.components.map(component => {
        if (component.customId === interaction.customId) {
         
          component.options.forEach(option => option.default = false);
        }
        return component;
      })
    };
  })
});
  } catch(e) {
    console.error(e);
  }
});

client.login('token') //botのトークンに置き換える、必要に応じて環境変数から取得

このコードでは!rp {roleID/mention} … とロールを指定してロールパネルを設置できるようになっています！
ロールを付与するときにembedのdescription内からロールを取得しているのでデータベースは必要ありません。