Here are some documents that will walk you through setting up targeting based on users cookies, or by segments that a user may be a part of.
Plan availability:
This feature is available on any paid Drift plan, starting with Premium.
When you get to your Audience targeting in your Playbook, select “Known Users” when choosing your segment and you’re good to go!

If you haven’t done so already, you’ll need to identify your users to the Drift widget. Take a look at our Javascript SDK docs to learn how.