On the build folder, type
bitbake -g <image> && cat pn-depends.dot | grep -v -e '-native' | grep -v digraph | grep -v -e '-image' | awk '{print $1}' | sort | uniq
where <image> is the image name (e.g. core-image-minimal). In case you want to know if a certain <package> is included on an image, just grep the output
bitbake -g <image> && cat pn-depends.dot | grep -v -e '-native' | grep -v digraph | grep -v -e '-image' | awk '{print $1}' | sort | uniq | grep <package>