Using Apple Pencil as a stylus with older unsupported iPads

I have some old iPads that I want to use for Zoom meetings. I want to use one as a whiteboard, drawing diagrams in the Notes app and showing them on screen. Can I use an Apple Pencil (either gen 1 or gen 2) as a basic stylus for drawing in the Notes app? I don't need any fancy features, just the ability to draw. I don't have an Apple Pencil to test, but I'm willing to buy one if it will work. Here are the iPads I have: 1. iPad 2 with iOS 9.3.5 2. iPad mini 4 with iOS 13.5 3. iPad Air 2 with iOS 13.5