Using puppeteer/cypress functionality in chrome extension app

I’m looking to build a small bot in a Chrome extension. The idea is to find and fill out forms on the current website.

Puppeteer/Cypress has all the tools I need for this, e.g. waiting for the selector to appear, timeouts, filling forms easily, etc.
I am not asking to install Puppeteer on Chrome extension or anything, just looking for a library that offers the utils I described.

Do you guys know if there’s tooling like this around? Thanks.