With captain Harry Kane scoring two goals, Madueke contributed by providing an assist for the second goal.
“It was great to make my first appearance for the national team and I am really proud of myself,” Madueke told BBC Radio 5 Live.
“It has been a great week, the boys are great and the staff and players have made me feel welcome.
“It tried to go out there and be direct and cause problems. I got an assist for Harry on his 100th appearance – it can’t get much better than that. It is fitting that Harry got both goals – it is his night.
“It is fun to work with Harry because if you give him the ball in the box he is going to get you an assist – Stonesy (John Stones) has been great with me and Dec (Rice), Jack (Grealish) – it is a great group of lads.
“I cannot wait to get back to Chelsea and to keep performing.”