Build an MQTT discovery message so a sensor, switch, button or number appears in Home Assistant by itself: the homeassistant/…/config topic, JSON with unique_id and device, mosquitto_pub commands and a configuration.yaml variant.
You can also publish from the browser with the MQTT client.
How discovery works
Home Assistant listens on homeassistant///
Nothing shows up? Check the MQTT integration is set up with the same broker as the sender, and that the JSON is valid. Zigbee2MQTT and ESPHome use the same mechanism, with nothing to configure: Zigbee device catalog.