apiVersion: apps/v1
kind: Deployment
metadata:
  labels:
    run: rootless
  name: rootless
spec:
  replicas: 1
  selector:
    matchLabels:
      run: rootless
  template:
    metadata:
      labels:
        run: rootless
    spec:
      containers:
      - image: docker:19.03.1-dind-rootless
        name: rootless
        command:
        - sh
        - -c
        - dockerd-entrypoint.sh --experimental --storage-driver=vfs
        securityContext:
          runAsUser: 1000
          allowPrivilegeEscalation: true
          privileged: true
        resources: {}
status: {}

kubctl create -f rootless.yml
kubectl exec -it rootless-7c94dcc5d7-gplvm sh
/ $ export DOCKER_HOST=unix:///run/user/1000/docker.sock
/ $ docker run --rm -it  busybox sh
docker: Error response from daemon: OCI runtime create failed: container_linux.go:345: starting container process caused "process_linux.go:303: getting the final child's pid from pipe caused \"EOF\"": unknown.
/ $ command terminated with exit code 125

Client Version: version.Info{Major:"1", Minor:"14", GitVersion:"v1.14.3", GitCommit:"5e53fd6bc17c0dec8434817e69b04a25d8ae0ff0", GitTreeState:"archive", BuildDate:"2019-06-18T20:40:14Z", GoVersion:"go1.12.5", Compiler:"gc", Platform:"linux/amd64"}
Server Version: version.Info{Major:"1", Minor:"12", GitVersion:"v1.12.3", GitCommit:"435f92c719f279a3a67808c80521ea17d5715c66", GitTreeState:"clean", BuildDate:"2018-11-26T12:46:57Z", GoVersion:"go1.10.4", Compiler:"gc", Platform:"linux/amd64"}