Since you are not giving any information on your boards hardware, I'm just going to assume that the relevant parts are identical to the EVK.
You need to use UUU for flashing.
Download UUU from GitHub and build it - if you haven't already done so.
The demo files folder (L5.10.9_1.0.0_MX6UL7D) for the EVAL kit contains some sample uuu scripts to flash the sample images.
Put your board into serial download mode.
Run on your host machine:
cd /path_to_L5.10.9_1.0.0_MX6ULD/
sudo /path_to_uuu/uuu uuu.auto-imx6ul14x14evk
Once you confirmed that the flash was successfully, you can customise the uuu script to accommodate your needs and your custom image.