I've never done that, but technically this should be possible by exposing kube-dns service as NodePort. Then you should configure your external DNS server to forward queries for Kube DNS zone "cluster.local" (or any other you have in Kube) to kube-dns address and port.

In Bind that can be done like that:

zone "cluster.local" {
 type forward;
 forward only;
 forwarders{ ANY_NODE_IP port NODEPORT_PORT; };
};

It's possible, there's a good article proving the concept: https://blog.heptio.com/configuring-your-linux-host-to-resolve-a-local-kubernetes-clusters-service-urls-a8c7bdb212a7

However, I agree with Dan that exposing via service + ingress/ELB + external-dns is a common way to solve this. And for dev purposes I use https://github.com/txn2/kubefwd which also hacks name resolution.

Although it may be possible to expose coredns and thus forward requests to kubernetes, the typical approach I've taken, in aws, is to use the external-dns controller.

This will sync services and ingresses with provides like aws. It comes with some caveats, but I've used it successfully in prod environments.