Customers can view and manage their subscriptions via standard WooCommerce My Account page (separate Subscriptions page in recent WooCommerce versions also supported):
Clicking on the subscription ID or button View will take customer to individual subscription page:
User can view subscription details, find related orders as well as edit subscription shipping address or cancel subscription (if allowed in settings).
Clicking on the Edit Address will display a standard WooCommerce address edit form. Clicking on other action buttons will display a prompt to make sure that user really wants to proceed with a given action.