As a DS9 scenic artist, Doug Drexler reused some of his illustrations of alien creatures from the
Star Fleet Medical Reference Manual as graphics in Keiko O'Brien's classroom in DS9's first-season finale.
Blowing my own horn again, two bits of terminology I introduced to Trek Lit in
Orion's Hounds have made it into
Discovery -- "contact specialist" (Deanna's job title on the
Titan and T'Ryssa Chen's on the
Enterprise) showing up as "first contact specialist" as Saru's job description in "Si Vis Pacem, Para Bellum," and "cosmozoan" (spacegoing life form) used to refer to the gormagander in "That Hope is You, Part 2."
Here's a weird one: The name "Endicor" was used by Peter David for a planet in issues 49-50 of DC's
Star Trek Vol. 1 comic in 1988, and was also used a year later in TNG: "Time Squared" as the
Enterprise's destination. Although nobody knows if it was an intentional nod to the comic or just a coincidence.
Many, many dates throughout Trek have been based on ones from the Star Trek Chronology, originally released in 1993.
That one doesn't count, since it was written by actual TNG/DS9 staffers. So it's ideas from the production (backstage, anyway) making it into print, rather than print ideas being adopted by the production.