I recently came across this question, as I was looking for the same topic. As it turned out, Inkscape (v0.92) has functions for that purpose now.
You can set IDs, and Labels in the Inkscape GUI in Object Properties
menu, and they will be applied to the XML code then.
Example
Inkscape GUI
- Draw a yellow rectangle and select it
- Click on Object -> Object Properties...
- In the menu set ID to
yellow_rect
and Label to #yellow_rect
- Apply changes by a click on Set
- To complete this example, repeat the steps above to create
red_rect
, set Label and ID
- Eventually, group both rectanbles and set identifiers for the group as well.

XML Code
When I open the SVG file, Inkscape put my identifiers to the appropriate XML tags.
<g
id="rect_group">
<rect
rx="0.11797347"
y="250.69791"
x="5.0270834"
height="18.785416"
width="30.427082"
id="yellow_rect1"
style="fill:#f4ff00;fill-opacity:1;stroke:#000000;stroke-width:0.52916667;stroke-linejoin:round;stroke-miterlimit:3.79999995;stroke-dasharray:none;stroke-opacity:1" />
<rect
rx="0.11797347"
y="258.89999"
x="24.606249"
height="16.933332"
width="33.602081"
id="red_rect1"
style="fill:#f40000;fill-opacity:1;stroke:#000000;stroke-width:0.52916664;stroke-linejoin:round;stroke-miterlimit:3.79999995;stroke-dasharray:none;stroke-opacity:1" />
</g>