The fastest route is the plugin
Thridy has a Figma plugin, and it exists because the alternative is a browser tab, a downloads folder and a lot of alt tabbing. The plugin searches the whole library from inside your file and places the icon on the canvas at the size you want.
Everything arrives as an image fill on a frame, so it behaves like any other layer: constraints work, auto layout works, and you can drop it into a component without anything unusual happening.
Or drag the file in
Download the PNG and drag it from your file browser straight onto the canvas. Figma keeps the transparency, so the icon sits on a coloured frame or a dark mode artboard without a white square behind it.
If you are building a component set, place the icon inside a frame sized to your grid, set the fill to Fit rather than Fill, and the icon will stay centred when the frame resizes. That one setting is the difference between an icon that scales with a component and one that crops itself in half.
Working at interface sizes
A 3D icon carries more detail than a line icon, so it wants more room. Below about 24 pixels the lighting and the depth stop reading and you get a small coloured blob, which is worse than a flat icon at the same size. Give them 32 pixels and up, and they earn their place.
This makes them excellent for empty states, feature cards, onboarding screens, marketing pages and app store screenshots, and a poor choice for a dense toolbar. Use a line set for the toolbar and these for the moments that need to look like something.
Exporting back out of Figma
When a developer asks for the assets, export at 2x as PNG and keep the transparency. Exporting at 1x and letting the browser scale up is the most common way a carefully chosen icon arrives on a retina screen looking soft.
If the destination is a web page rather than an app, export WebP instead. It is roughly forty per cent smaller than lossless PNG on this artwork, measured across five real icons from this library, and every browser in current use reads it. Keep the PNG for the design file and ship the WebP.
Name the exports after the icon rather than after the frame. A folder of Frame 42 through Frame 61 is a folder somebody has to open twenty times, and the slug is already a perfectly good name.