How to write on your iPad with your Apple Pencil — Apple Support

Starting in iPadOS 14, Apple Pencil can convert your handwriting to text as you write, and it works in any text field. And in Notes, you can edit handwritten words with the same gestures you use for text.

To learn more about this topic, visit the following article:
Enter text with Scribble on iPad:
Use Apple Pencil with your iPad:

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