Question about domain name

Is there a way to use a domain and dns servers in some way that I can use the domain to connect to local servers and services? So I could go to plex.myname.com and it would go to my plex? I understand the port forwarding and all but I dont want this externally accessible, only internally. Would I point the dns of the domain to the local ip addresses? Would that even work? Or should I just use local host names to access these servers?