Using only vanilla JS:
var iframeElt = document.getElementById('myIFrameId'),
iframeDocument = iframeElt.contentDocument ?
iframeElt.contentDocument : iframeElt.contentWindow.document,
iframeNewDiv = iframeDocument.createElement('div');
iframeNewDiv.innerHTML = 'some new content here';
iframeDocument.body.appendChild(iframeNewDiv);
Using jQuery (which will fix any cross-browser issues) ( unchecked ):
$('#myIFrameId body').append('<div>some new content here</div>');
- , , iframe , .