How to display posts of specific subcategory in WordPress

I created custom taxonomy called Products. It has three terms (categories): Furniture, Gift, Food. Each term has it’s own children (subcategories). And I need to get a posts titles, who are in the specific subcategory.

I have a code, which displays specific category (which term_id is 3) subcategories titles:

<?php
    $termID = 3
    $taxonomyName = "products";
    $termchildren = get_term_children( $termID, $taxonomyName );
    foreach ($termchildren as $child) {
        $term = get_term_by( 'id', $child, $taxonomyName );
        echo'<p class="menu_head"><a href="#">'.$term->name.'</a></p>
    <div class="menu_body">
         <a href="#">Link-1</a>
         <a href="#">Link-2</a>
         <a href="#">Link-3</a>
    </div>';
}?>

And I need to get posts, who are in that subcategories, titles in <div class="menu_body"></div> instead of “Link-1”, “Link-2”, “Link-3”.