How Can I Identify Already Registered Domains With A Specific Word Or Phrase?

I know there is a way (or multiple ways) to identify specific already registered domains that contain a specific word or phrase in various extensions but do not know what they are. For example take the phrase DomainABCD (or the domain DomainABCD.com) how can I discover the domains below which are already registered:

DomainABCD123.com

DomainABCDzz.co