Does iPad mini 2 work with a Apple Pencil?

Sorry no.

See this list for compatibility:--> Apple Pencil compatibility - Apple Support

Regards

Giulio

No.

Your over 7-year old, 2013, iPad Mini 2 is too old to work with ANY Apple Pencil version.

Only iPads made after late 2015 can use Apple Pencils, with the exception of the 2017, 5th gen iPad.

Sorry.