No need to create another button, you can reuse the existing one:
  override func viewDidLoad() {
    super.viewDidLoad()
    let imageWidth: CGFloat = 21
    let image = UIImage(named: "image-name")
    inputToolbar.contentView.rightBarButtonItemWidth = imageWidth
    inputToolbar.contentView.rightBarButtonItem.setImage(image, for: .normal)
  }
But if you want to have more control of the button, you should create a custom one:
override func viewDidLoad() {
    super.viewDidLoad()
    let buttonWidth = CGFloat(40)
    let buttonHeight = inputToolbar.contentView.leftBarButtonContainerView.frame.size.height
    let customButton = UIButton(frame: CGRect(x: 0, y: 0, width: buttonWidth, height: buttonHeight))
    customButton.backgroundColor = .red
    customButton.setImage(UIImage(named: "send-message"), for: .normal)
    customButton.imageView?.contentMode = .scaleAspectFit
    inputToolbar.contentView.rightBarButtonItemWidth = buttonWidth
    inputToolbar.contentView.rightBarButtonItem = customButton 
}