The nearest key is ⌘Tab, and it is not the same thing. It cycles through apps, one icon per app no matter how many windows it has, and a minimized window stays minimized when you land on its app. Two more shortcuts fill the gaps:
- ⌘` (the key above Tab) cycles through the windows of the current app.
- ⌃↑, or a three-finger swipe up, opens Mission Control: every window laid out at once, click the one you want.
So the Windows habit, hold Alt and tap Tab until the right window is highlighted, has no single equivalent on a stock Mac. Free tools have filled this gap for years; a window-level switcher lists windows instead of apps and shows a picture of each.
One thing to know about ⌘Tab: holding ⌘ and pressing Q while it is open quits the highlighted app, and pressing H hides it. Handy once you expect it.