Does the regular iPad 2 support Apple Pencil?

No. The iPad2 fundamentally does not support Apple Pencil - as it lacks the specific screen hardware with which the Apple Pencil interacts with the iPad screen. For information, here is Apple’s definitive compatibility list for Apple Pencil and iPad:

Apple Pencil compatibility - Apple Support

There are third-party Bluetooth Stylus’ available which offer limited support for iPad - perhaps the better known being those manufactured by Adonit:

https://www.adonit.net/

Bluetooth Stylus’ are fully reliant upon support being explicitly provided by third-party App Developers - and if only for this reason, support is very limited - as will be the usefulness of a Bluetooth Stylus.

The remaining alternative is a Capacitive Stylus. Be aware that a basic capacitive stylus offers no more capability or function than a fingertip - although for fine-tipped examples may offer slightly greater precision than a finger.

the ipad 2 was

DiscontinuedMarch 18, 2014

it do not support any of the pens apple make

but you can use all normal stylus

Amazon.com : stylus

if you wish to see which of the apple pens support what ipads then you can go to their pen page

Apple Pencil - Apple

and scroll down to the dropdownbox with the text Find the Apple Pencil that works with your iPad.

and choose the various ipads from the dropdownbox