Boundary Devices has a tool to load directly a U-boot binary file, all using the USB OTG port. Assuming that you have connected your i.MX board to your Linux Host through an USB cable, board is power-on with dip switches configure to 'Serial Download Mode' (this configuration depends on the board you are booting), clone the imx_usb_loader repo, generate the tool then boot as indicate below:
$ git clone https://github.com/boundarydevices/imx_usb_loader.git
$ cd imx_usb_loader
$ make
$ ./imx_usb ../tmp/deploy/images/u-boot.imx
On the console terminal, you should see the booting kernel logs and at the end reaching the login prompt.
Useful Links:
[1] Unbricking a Nitrogen6X or Sabre Lite i.MX6 board
[2] Boundary Devices Repos
[3] Boundary Devices Main page