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Pre-publishing / ingame icon: Go to the people playground directory and go into Contraptions, then find your contraption you want to change the icon of, get something to make it (I would recommend making the icon square and I also usually squish a cropped screenshot to 512x512 size), replace the [contraption name].png with your new icon, and then you can publish it to the workshop with the new icon.
Post-publishing / workshop icon: Assuming you are already on the page of your contraption, there should be an "Owner Controls" panel to the right, then there should be "Add/Edit Images & Videos" click on it and then you can either drag down files from your file explorer or click the Choose Files button, then after getting your files in there click Upload and I think you will want to find & click Save Changes afterwards, then back to your contraption's page and you should see the new images.
Mod:
Inside the mod's folder, find your thumbnail image. With something to make it, just edit the image.
If this isn't understandable, you could try searching "contraption icon" in guides.