What are you using? Polymer 2, 3, or LitElement (I strongly urge the latter).
If Polymer, you can access an element with const elem = this.$.[dom_id]....
If LitElement, you access an element with const elem = this.shadowRoot.getElementById('[dom_id]') or any querySelector() wish.
Once you have access to an item in your element, say a <div>, you can
const child = document.createElement('some-element'); // anything you wish
elem.appendChild(child);
If you are working with Polymer or LitElement, I urge you to join the Polymer Slack channel. Almost no one checks here.