Did the Jews use icons and images to help them worship as Catholics or Orthodox worshippers do? I understand that some worshippers use icons to 'lift up their minds from earthly things to the heavenly things'? I am not interested about those using them as stage-props for a play (in comparison), but in those who do it from a religious sense, of helping them in prayer or worship.

Did the Jews ever do this?
The remains of an ancient Jewish Synagogue have been found at a site known as Dura-Europos. Inside this Jewish Synagogue, all the walls are covered in frescoes of scenes from the Tanakh, which date to about 250 AD.