Is it possible that you're really talking about Adobe Dimension, and not Adobe XD?
Assuming you mean Dimension, you can drag any image type onto a model to add it as a decal. If you want to create a material you can use the Adobe Capture CC mobile app to make a new material, and save that to your CC library. It will appear inside Dimension for you to use.
If it is decal that you want, you can only have one of those at a time, and the feature was improved recently, make sure you're using the release version of Dimension, and not using the beta of Project Felix.
Oh crap, sorry yes, i meant Dimensions. I will repost this in the correct place with correct naming.
Sorry for taking up your time.
I am able to move the discussion to Dimension, but if you're already ok with my suggestions, we could leave it here. It will at least educate XD users about Dimension!