You can include any helper/module/class in an erb template with:
<% environment.context_class.instance_eval { include MyHelper } %>
See: https://github.com/rails/sprockets/blob/master/lib/sprockets/environment.rb and https://github.com/rails/sprockets/blob/master/lib/sprockets/context.rb
To use the url helpers you have to include your specific applications’ helpers.
They are available at Rails.application.routes.url_helpers
so:
<% environment.context_class.instance_eval { include Rails.application.routes.url_helpers } %>
EDIT: Fixed links to moved sprockets repo but not really sure this still makes sense so many years later.