When importing users, you have the option to "Send onboarding email to imported users."

When this option is checked, all new users who receive a license will receive an onboarding email.

Important Note: Only users who are assigned a license will receive an email. If you have the LICENSE field set to FALSE in your CSV, the user will not receive a license or onboarding email.
 

Standard Onboarding Email

The onboarding email users receive is shown below (as long as SSO is not enabled):

SSO Onboarding Email

If your organization is using SSO, they will receive the following email:

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