Just use the MaterialToolbar and override the default colors:
    <com.google.android.material.appbar.MaterialToolbar
        style="@style/Widget.MaterialComponents.Toolbar.Primary"
        android:theme="@style/MyThemeOverlay_Toolbar"
        ..>
with:
  <style name="MyThemeOverlay_Toolbar" parent="ThemeOverlay.MaterialComponents.Toolbar.Primary">
    <!-- color used by navigation icon and overflow icon -->
    <item name="colorOnPrimary">@color/...</item>
  </style>

If you are using the androidx.appcompat.widget.Toolbar or the MaterialToolbar  with the default style (Widget.MaterialComponents.Toolbar) you can use:
<androidx.appcompat.widget.Toolbar
    android:theme="@style/MyThemeOverlay_Toolbar2"
with:
  <style name="MyThemeOverlay_Toolbar2" parent="ThemeOverlay.MaterialComponents.Toolbar.Primary">
    <!-- This attributes is used by title -->
    <item name="android:textColorPrimary">@color/white</item>
    <!-- This attributes is used by navigation icon and overflow icon -->
    <item name="colorOnPrimary">@color/secondaryColor</item>
  </style>