diff --git a/crates/bevy_ecs/src/system/commands/mod.rs b/crates/bevy_ecs/src/system/commands/mod.rs
index fb488f5e7f..d9db569d51 100644
--- a/crates/bevy_ecs/src/system/commands/mod.rs
+++ b/crates/bevy_ecs/src/system/commands/mod.rs
@@ -12,6 +12,7 @@ use crate::{
     world::command_queue::RawCommandQueue,
     world::{Command, CommandQueue, EntityWorldMut, FromWorld, World},
 };
+use bevy_ptr::OwningPtr;
 use bevy_utils::tracing::{error, info};
 pub use parallel_scope::*;
 
@@ -937,6 +938,50 @@ impl EntityCommands<'_> {
         self.add(insert(bundle))
     }
 
+    /// Adds a dynamic component to an entity.
+    ///
+    /// See [`EntityWorldMut::insert_by_id`] for more information.
+    ///
+    /// # Panics
+    ///
+    /// The command will panic when applied if the associated entity does not exist.
+    ///
+    /// To avoid a panic in this case, use the command [`Self::try_insert_by_id`] instead.
+    ///
+    /// # Safety
+    ///
+    /// - [`ComponentId`] must be from the same world as `self`.
+    /// - `T` must have the same layout as the one passed during `component_id` creation.
+    pub unsafe fn insert_by_id<T: Send + 'static>(
+        &mut self,
+        component_id: ComponentId,
+        value: T,
+    ) -> &mut Self {
+        // SAFETY: same invariants as parent call
+        self.add(unsafe {insert_by_id(component_id, value, move |entity| {
+            panic!("error[B0003]: Could not insert a component {component_id:?} (with type {}) for entity {entity:?} because it doesn't exist in this World. See: https://bevyengine.org/learn/errors/#b0003", std::any::type_name::<T>());
+        })});
+        self
+    }
+
+    /// Attempts to add a dynamic component to an entity.
+    ///
+    /// See [`EntityWorldMut::insert_by_id`] for more information.
+    ///
+    /// # Safety
+    ///
+    /// - [`ComponentId`] must be from the same world as `self`.
+    /// - `T` must have the same layout as the one passed during `component_id` creation.
+    pub unsafe fn try_insert_by_id<T: Send + 'static>(
+        &mut self,
+        component_id: ComponentId,
+        value: T,
+    ) -> &mut Self {
+        // SAFETY: same invariants as parent call
+        self.add(unsafe { insert_by_id(component_id, value, |_| {}) });
+        self
+    }
+
     /// Tries to add a [`Bundle`] of components to the entity.
     ///
     /// This will overwrite any previous value(s) of the same component type.
@@ -1252,6 +1297,31 @@ fn try_insert(bundle: impl Bundle) -> impl EntityCommand {
     }
 }
 
+/// An [`EntityCommand`] that attempts to add the dynamic component to an entity.
+///
+/// # Safety
+///
+/// - The returned `EntityCommand` must be queued for the world where `component_id` was created.
+/// - `T` must be the type represented by `component_id`.
+unsafe fn insert_by_id<T: Send + 'static>(
+    component_id: ComponentId,
+    value: T,
+    on_none_entity: impl FnOnce(Entity) + Send + 'static,
+) -> impl EntityCommand {
+    move |entity, world: &mut World| {
+        if let Some(mut entity) = world.get_entity_mut(entity) {
+            // SAFETY:
+            // - `component_id` safety is ensured by the caller
+            // - `ptr` is valid within the `make` block;
+            OwningPtr::make(value, |ptr| unsafe {
+                entity.insert_by_id(component_id, ptr);
+            });
+        } else {
+            on_none_entity(entity);
+        }
+    }
+}
+
 /// An [`EntityCommand`] that removes components from an entity.
 /// For a [`Bundle`] type `T`, this will remove any components in the bundle.
 /// Any components in the bundle that aren't found on the entity will be ignored.