I think want you want is mostly the platform snap model, e.g. gnome-3-34-1804 and gnome-3-34-1804-sdk. One is used when running the snap, so the executable finds its libraries, the other is used at build time to provide pkg-config and CMake related things.
You can look at how the gnome-3-34 sets things up for inspiration.
Lastly, you’ll want to request auto-connection for your platform snap, so people can use it without any manual steps needed after installing a consumer snap.
Here you can find the topical interface and a few examples: The content interface
It is quite analogous to the well-known libfoo + libfoo-dev packaging scheme, only with snaps and with a little less granularity.