awscli等で名前付きプロファイル名で認証したいと思い、GitHub Actionsでどうやるか試行錯誤して、以下の方法で実現できたので書いておきます。

env:
  AWS_ACCOUNT_ID: 123456789012
  AWS_REGION: ap-northeast-1
  AWS_IAM_ROLE: your-github-actions-role
  AWS_PROFILE_NAME: profile_name

jobs:
  dummy:
    name: dummy
    runs-on: ubuntu-latest
    permissions:
      id-token: write
      contents: read

    steps:
      - name: Checkout
        uses: actions/checkout@v3

      # Refs: https://github.com/aws-actions/configure-aws-credentials
      - name: Configure AWS Credentials
        uses: aws-actions/configure-aws-credentials@master
        with:
          role-to-assume: arn:aws:iam::${{ env.AWS_ACCOUNT_ID }}:role/${{ env.AWS_IAM_ROLE }}
          role-session-name: GitHubActions-${{ github.run_id }}
          aws-region: ${{ env.AWS_REGION }}

      - name: Set named credentials
        run: |
          aws configure set aws_access_key_id ${AWS_ACCESS_KEY_ID} --profile ${{ env.AWS_PROFILE_NAME }}
          aws configure set aws_secret_access_key ${AWS_SECRET_ACCESS_KEY} --profile ${{ env.AWS_PROFILE_NAME }}
          aws configure set aws_session_token ${AWS_SESSION_TOKEN} --profile ${{ env.AWS_PROFILE_NAME }}

      # AWS認証がどのIAM権限で行われているかチェック用 （名前付きプロファイルを指定している）
      - name: Call get-caller-identity to check AWS IAM
        run: |
          aws sts get-caller-identity --profile ${{ env.AWS_PROFILE_NAME }}