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Note
Find the earliest commit that has not been signed yet using git log --show-signatures (you may want to use --reverse flag to start from the initial commit).
Use the hash you got from the first part and insert that commit's hash to <HASH> in the command below.
git rebase --exec 'git commit --amend --no-edit -n -s' -i <HASH>~1
This will sign all of your commits starting from <HASH> to the most current commit.
If you want to sign all of the commits from the initial commit to the most current one, you can simply use --root flag instead of inserting the <HASH>.
git rebase --exec 'git commit --amend --no-edit -n -s' -i --root