I gave a presentation with this title during the 2018 NARA Virtual Genealogy Fair which is online. I’ve now added the “June 2019” version of the handout for that presentation to my “Research Guides” page on this website. This handout highlights of federal agencies or major records series that are useful; it is certainly not exhaustive.
In addition, it is good to remember that most documentation of enslavement will be found in property, estate, tax, and other records created primarily at the county level, not in federal records.