Next-generation wireless systems will offer integrated sensing and communications (ISAC) functionalities not only in order to enable new applications, but also as a means to mitigate challenges such as doubly-dispersive channels, which arise in high mobility scenarios and/or at millimeter-wave (mmWave) and Terahertz (THz) bands. An emerging approach to accomplish these goals is the design of new waveforms, which draw from the inherent relationship between the doubly-dispersive nature of time-variant (TV) channels and the environmental features of scatterers manifested in the form of multi-path delays and Doppler shifts. Examples of such waveforms are the delay-Doppler domain orthogonal time frequency space (OTFS) and the recently proposed chirp domain affine frequency division multiplexing (AFDM), both of which seek to simultaneously combat the detrimental effects of double selectivity and exploit them for the estimation (or sensing) of environmental information. This article aims to provide a consolidated and comprehensive overview of the signal processing techniques required to support reliable ISAC over doubly-dispersive channels in beyond fifth generation (B5G)/sixth generation (6G) systems, with an emphasis on OTFS and AFDM waveforms, as those, together with the traditional orthogonal frequency division multiplexing (OFDM) waveform, suffice to elaborate on the most relevant properties of the trend. The analysis shows that OTFS and AFDM indeed enable significantly improved robustness against inter-carrier interference (ICI) arising from Doppler shifts compared to OFDM. In addition, the inherent delay-Doppler domain orthogonality of the OTFS and AFDM effective channels is found to provide significant advantages for the design and the performance of integrated sensing functionalities.