ScriptReference/Gizmos.DrawIcon

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ScriptReference/Gizmos.DrawIcon

https://docs.unity3d.com/ScriptReference/Gizmos.DrawIcon.html

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Note: Unlike other special folders, the Gizmos folder MUST be located in the root Assets folder. Any subfolder named "Gizmos" will not.

Note: You do not need to include the file extension. Altering the above example, this will work too:
Gizmos.DrawIcon (transform.position, "Light Gizmo", true);

HACK (2020.3): If you your target icon is set as a script asset icon, DrawIcon will be able to use it regardless of which folder it's located in, but ONLY when the game object is NOT selected.