The short answer, is you cannot.
Why?
Because busybox does not have package manager like: yum, apk, or apt-get ..
Acutally you have two solutions:
1. Either use a modified busybox
You can use other busybox images like progrium/busybox which provides opkg-install as a package manager.
image: progrium/busybox
Then:
kubectl exec -it busybox -- opkg-install curl
2. Or if your concern to use a minimal image, you can use alpine
image: alpine:3.12
then:
kubectl exec -it alpine -- apk --update add curl