There is no "ssh" command in kubectl yet, but there are plenty of options to access Kubernetes node shell.
In case you are using cloud provider, you are able to connect to nodes directly from instances management interface.
For example, in GCP: Select Menu -> Compute Engine -> VM instances, then press SSH button on the left side of the desired node instance.
In case of using local VM (VMWare, Virtualbox), you can configure sshd before rolling out Kubernetes cluster, or use VM console, which is available from management GUI.
Vagrant provides its own command to access VMs - vagrant ssh
In case of using minikube, there is minikube ssh command to connect to minikube VM. There are also other options.
I found no simple way to access docker-for-desktop VM, but you can easily switch to minikube for experimenting with node settings.