Not in the menu management interface.
You can inject custom elements if you create a custom nav walker. This requires some coding skill as well as trial and error to figure out which parts of the code you need to use, and how to tweak them.
Or, if you’re comfortable using JavaScript to change things after the menu is built (so some visitors and search engines might not see the change), you could use a document.ready script that identifies a “regular” menu item and then injects whatever image etc. you want to display in its place.