This is a book about Qt development and I will stick to Qt Creator. The method is nearly the same to connect to any device, with a few minor differences. You can also connect via Secure Shell (SSH) and friends with a terminal. I often use both methods, as each has its own advantages and disadvantages.
I remember when what is now called Qt Creator was first released for internal testing at Nokia. At that time, it was called Workbench. It was basically a good text editor. Since that time, it has gained heaps of awesome features and it is my go to IDE for Qt-based projects.
Qt Creator is a multi-platform IDE, it runs on macOS X, Windows, and Linux. It can connect to Android, iOS, or generic Linux devices. You can even get SDKs for devices such as UBports (Open Source Ubuntu Phone) or Jolla Phones.
To configure your device, in Qt Creator navigate to Tools
| Options...
| Devices
| Devices
.