Note: The example contains placeholders for <vendor> and <extension> and you have to replace them with the names from your extension.
First we have to ensure that the constants.txt file is only created if our own extension is installed. Thus, we check for the extension name to filter out all other extension installations.
The TYPO3 backend utilities contains some nice methods to retrieve records from the database with only little effort. For example, you can use the getRecordsByField() method from the BackendUtility class to fetch all records from a table where a field matches a certain value. Here we want to get all records where the "title" equals "My account" from the "pages" table.
Warning: Searching for a page with a title only works as long as the page isn't renamed! In the best case, your extension has added the page including the page name itself, so this won't be a problem. It's not bad if somebody renames the page afterwards because the page ID will stay the same in this case. The only problematic situation could be several pages with the same name.
Make sure you generate valid TypoScript afterwards, including new lines and keep an eye on security by enforcing the types you are expecting! The foreach() loop is a great way to deal with no records and several returned records too because both can an will happen sooner or later. Don't throw an exception if something unexpected happens because it may lead to not being able to install your extension at all! It's better to drop those records and add a message to the log file.
Tip: You don't have to add all TypoScript statements to your constants.txt that contains a dynamic value. Instead, you can also define them like "page.myaccount.id = 123" and reference the constants in your setup.txt with "{$page.myaccount.id}". This is especially handy to keep your constants.txt small and if you need the value several times.
At last, your extension has to write the TypoScript statements to the constants.txt file. The GeneralUtiltiy class from the TYPO3 core contains a little writeFile() helper function to get this done within one line.