You can use the -v option e.g:
$ psql -v v1=12 -v v2="'Hello World'" -v v3="'2010-11-12'"
and then refer to the variables in SQL as :v1, :v2 etc:
select * from table_1 where id = :v1;
Please pay attention to how we pass string/date values using two quotes " '...' " But this way of interpolation is prone to SQL injections, because it’s you who’s responsible for quoting. E.g. need to include a single quote? -v v2="'don''t do this'".
A better/safer way is to let PostgreSQL handle it:
$ psql -c 'create table t (a int, b varchar, c date)'
$ echo "insert into t (a, b, c) values (:'v1', :'v2', :'v3')" \
| psql -v v1=1 -v v2="don't do this" -v v3=2022-01-01