Move WhatsApp data from Android to iPhone

Migrate from Android to iPhone

1. Open the Move to iOS app on your Android phone and follow the on-screen prompts.
2. A code will be displayed on your iPhone. When prompted, enter the code on your Android phone.
3. Tap Continue and follow the on-screen prompts. 
4. Select WhatsApp on the Transfer Data screen.
5. Tap START on your Android phone, and wait for WhatsApp to prepare the data for export. You’ll be signed out from your Android phone once the data is prepared.
6. Tap NEXT to return to the Move to iOS app.
7. Tap CONTINUE to transfer the data from your Android phone to your iPhone and wait for Move to iOS to confirm the transfer is complete. 
8. Install the latest version of WhatsApp from the App Store.
9. Open WhatsApp and log in using the same phone number used on your old device.
10. Tap Start when prompted, and allow the process to complete.
11. Finish activating your new device and you’ll see your chats waiting for you. 

Note: Going to Files and selecting the WhatsApp folder in the Move to iOS app isn't supported during migration.

WhatsApp is not an Apple product. Contact the app developer here --> App Support or WhatsApp FAQ or Restoring your chat history - WhatsApp FAQ

WhatsApp Chat history from Google Drive to iCloud. (Android to iPhone)

Move process cannot extract data from Google Drive or any other Drive where the chat backups are stored. iCloud Drive is not one of them.

My experience says you can't transfer because on Android, and WhatsApp, chat history is not stored on iCloud, on iOS it is.

That may be possible with third-party software. Warning!; WhatsApp data through third-party software has the risk of data being compromised. Because the data will be churned through third-party servers, which may or may not be encrypted. Be judicious while selecting the software and taking this call.

That's weird. Do you see an on-screen prompt that said otherwise?