Obtaining bootstrap servers and ca.cert are straight forward. Getting cert.pem and key.pem requires some work.
Below describe how to obtain these fields.
Bootstrap Servers
bootstrap_server can be obtained either from console UI:
Amazon MSK / Clusters / <cluster>,
then click on "View client information" button.
OR via command line
aws kafka get-bootstrap-brokers --cluster-arn $my-cluster-arn
In the return string, look for BootstrapBrokerStringTls entry