Where can I check to see the battery percentage on an Apple Pencil for ios10?
Apple Pencil battery %
Are you saying they've changed the existing procedure?
I have found the battery widget doesn't always appear on iPad with beta iOS 10
Workaround for me: force-close all apps, hard reboot (hold power button and home button until reboot cycle), then pair or re-pair the pencil.
I can confirm Spiv's solution worked for me. In Beta 3 the Batteries widget refused to show and I could no longer use the pencil. I followed the suggestions Spiv made and got it all working fine again for me now.