AWS Aurora FAQ states:

I have a snapshot of an existing Aurora (Postgres) provisioned cluster. The snapshot was originally taken in us-west-1, but I copied it to us-west-2 (not sure if this matters). When I attempt to restore this snapshot to an Aurora serverless setup, I only see the option to create a provisioned cluster.

What am I doing wrong?
You can do it via snapshot -> restore, but only if your source database snapshot has specific characteristics. To see if your version is compatible, use:
$ aws rds describe-db-engine-versions |
jq -r '.DBEngineVersions[] |
select(.SupportedEngineModes[]?=="serverless") |
"\(.Engine): \(.EngineVersion)"'
yields
aurora-mysql: 5.7.mysql_aurora.2.07.1
aurora-postgresql: 10.14
aurora: 5.6.10a
The versions that are compatible to swap back and forth (using snapshots between serverless and provisioned) change over time. If you are using a source database snapshot that is not directly compatible, you can try mysqldump.
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