How do I connect my AirPods to my iCloud account?

You cannot connect them to your iCloud.

Airpods is a bluetooth device that connects to your iPhone, iPad or Macs. https://support.apple.com/en-us/HT207010

Alright. Here's how to find your lost Airpods https://support.apple.com/en-us/HT207581if it's not nearby you can contact apple and learn how to set up a replacement. Hope you find your Airpods. 😊