You can use the Find My app to remove an AirTag, Apple Pencil Pro, or third-party item from your Apple Account so someone else can register it.
Learn how to register an on your iPad.
Tap Devices at the bottom of the screen, then tap the Apple Pencil Pro you want to remove.
Scroll down and tap Remove This Device.
Removing Apple Pencil Pro removes Find My Lock, allowing another Apple Account to add Apple Pencil Pro to Find My on their iPad.
Note: Follow the manufacturer’s instructions to reset an item. For an AirTag, see the Apple Support article Mark an AirTag or other item as lost in Find My on iPad