At the moment it's not possible to run docker daemon in WSL. However, you can leverage the daemon installed in the host system. And use the WSL as a client.

The prerequisite is that daemon on the host machine exposes port 2375.

Now let's use the WSL as a client. A couple of ways to do that:

docker -H localhost:2375 images

Or

export DOCKER_HOST=localhost:2375

With this environment variable it is no more necessary to use -H option explicitly

docker images

In order not to miss the variable after bash restarts, just append variable assignment to the .bash_profile:

echo "export DOCKER_HOST=localhost:2375" >> ~/.bash_profile

Find more details here.