Gist for my article: WordPress: Adding custom svg icons to your Gutenberg blocks/plugin. https://since1979.dev/wordpress-adding-custom-svg-icons-to-your-gutenberg-blocks-plugin/

component-with-icon.js

import React from 'react'
import icons from '../icons/icons.js'

const { Icon } = wp.components;

class ComponentWithIcon extends React.Component {
    
    constructor() {

        super()
        
    }

    render() {
        return (
            <div>
            
                <Icon className="icon" icon={icons.github}/>

                <h4>Component with icon</h4>

            </div>
        )
    }

}

export default ComponentWithIcon