You could do it in bits and pieces maybe? Like as you draw something just throw some info related to it in the description and slowly build from there. You won't get big text walls but you can still get enough out there to get people interested maybe.

In bits and sorted by category - e.g. geography, species (with their culture/society/history), etc.

Now that's a problem as old as storytelling itself.

Tolkein started with a map. Then he filled the map with nations. Then he filled them with people-- which he started by designing their languages. Then he set about making the cultures, values, and quirks.

Then he had to come up to an answer to the question you just asked. I don't know what he did, but it seems to have worked.

Try coming up with a list of specific facts that you want to lead INTO other facts. If you can slip exposition into your work in bite-sized pieces, you can build your world while letting the reader see it.