Can I change the Apple ID associated with my AirPods

Activation Lock is designed to prevent anyone else from using an AirPod if it's ever lost or stolen.

About Activation Lock on your Apple Watch - Apple Support

Activation Lock is an anti-theft feature that cannot be bypassed. Only the previous owner can remove the lock by using their Apple ID & password. Apple will not help you find the previous owner. If the previous owner cannot or will not remove the lock, then the AirPod is useless to you or anyone else.

If you are the owner, then with a web browser, go to: https://www.iCloud.com and sign in with the Apple ID. Open Find My iPhone and select All Devices (at the top). Then click the AirPods, select 'Erase', and select Next until the device is erased. Finally click "X" next to remove the AirPods. Then you can set them up with your new Apple ID.

There is no such thing as Activation Lock with AirPods. To change the Apple ID associated just put the AirPods in the case, leave the lid open and hold down the button in the back until the light blinks white. This resets them.