Normally when you use a Breadcrumb in an APEX application you enter the data and that's it. The breadcrumb will look something like this:
It's trivial to replace the text that you enter in the Breadcrumb with a little bit of markup and show a Font Awesome (or with APEX 5.1 Font APEX) icon.
<span class="fa fa-home"></span>Now the text will be replaced with a little house.
And resized, it will look like this
If you want to use this, keep in mind that this solution is not screen-reader-friendly. Personally I would only use it for "top-level" Breadcrumbs, keeping the same images that you use in the Navigation Menu.