How do I add Terms of Service and Privacy Policy to the Registration Sign Up?

You can add Terms of Service and Privacy Policy to the Registration Sign Up by checking the Force accepting ToS sign up check box located on the Configuration page (Admin Dash > Settings > Configuration):

The result on the registration form will be:

Additional note:
You can edit the content and link shown on the registration form by editing this Language Translation Key - registrations.accept_terms_of_service