The Plain format does not provide any graphics facilities; those are provided by the engine or the DVI driver.
Since you mention that you mean to use PDFTeX, I suggest to you to grab the manual and read sections 7.9 and 8. The same approach should work, to the best of my knowledge, with LuaTeX, though the engine is far bigger and more complex. XeTeX also supports different graphics formats; read section 6 of the XeTeX Reference Guide.
Since dvips does not support png/jpg graphics, the way to include graphics in those formats via DVI files is by using the dvipdf[m[x]] driver; see section 8 of the manual for further details.
If, however, you still want to mess with including PostScript files or instructions directly, via \specials, and then process them with dvips, read sections 5.1 and 5.3 of the dvips manual.
The graphics-pln package extends the Plain format to support LaTeX style graphics inclusion via miniltx; you may learn something by reading the source code.
texdoc pdftex-a, it describes the low-level commands. Or study the latex graphicx driver pdftex.def. – Ulrike Fischer Jun 17 '21 at 11:38insboxplain TeX macros package defines\InsertBoxL, \InsertBoxRand\InsertBoxCcommands. – Bernard Jun 17 '21 at 13:49bm2font. Apparently it converts bitmap images (like GIF, but I don't think it works with PNG so you'd have to convert your PNG to GIF first) to PK fonts which can then be used by plain TeX. – étale-cohomology Apr 14 '22 at 17:09