use Drupal\Core\Url;
$nid = 23 // node id you want to open
$url = Url::fromRoute('entity.node.edit_form', ['node' => 23],['query' => ['key' => 'value']]); //get the route name from module.routing.yml file
$form['link'] = array(
'#type' => 'link',
'#title' => 'open link',
'#url' => $url,
);
This will generate below html
<a href="/node/23/edit?key=value" data-drupal-selector="edit-link" id="edit-link">open link</a>
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