Michael Cohen, President Trump’s former personal attorney, gave his fullest public description of Mr. Trump’s involvement in two hush money deals during the 2016 campaign that the Justice Department has said were federal crimes.

Mr. Cohen’s comments came in his first interview, aired Friday on ABC’s “Good Morning America,” since a federal judge sentenced him on Wednesday to three years in prison for various crimes, including two that prosecutors and Mr. Cohen say he committed at Mr. Trump’s request.

In...