QGIS had a plugin for editing and uploading OSM data, but that was dropped due to lack of maintenance. Currently, no OSM user authentication is stored inside QGIS, and there is no plan to do it.
OSM editors have a lot of testing routines before you can upload things. These would have to be added to QGIS too. And simply copying things to the OSM server will leave unconnected lines, duplicated POIs as points and polygons etc.
I do it this way:
Select the new things you want to put in the OSM database
convert polygons to lines if necessary
save them as GPX waypoints and tracks in EPSG:4326
Load the GPX into JOSM
Dowload data along the GPX (it needs at least one track for that)
Add the features, with respect to the existing data (merge nodes etc)
UpoladUpload to the OSM server