Firstly, you have to ensure that the openssh-server has been installed and running in the pod. If not, you can use kubectl exec -it <pod-name> -n <namespace> -- bash to access the pod. If your pod are running Ubuntu, do apt-get install -y openssh-server.

Secondly, pods are running in a virtual IP subnet assigned by network service. They are accessible to any Master nodes and Worker nodes in the cluster. You can do ssh from any of the Host OS.

If you would like to login inside a particular container in the POD

kubectl exec -it <Pod_Name> -c <Container_Name> -- /bin/bash

If you would like to login to default container (or if there is only one container in POD) then just use

kubectl exec -it <Pod_Name> -- /bin/bash

PS:- If /bin/bash is not working try /bin/sh