Can I use my EarPod to listen to my iPad

Presumably you have wired EarPods with a 3.5mm audio plug.

For iPad models with a USB-C port, you’ll require an Apple USB-C to 3.5mm Headphone Jack Adapter:

https://store.apple.com/uk/xc/product/MU7E2ZM/A

For recent models of iPad that only have a Lightning port, you’ll instead need a Lightning to 3.5mm Headphone Jack Adapter:

https://store.apple.com/uk/xc/product/MMX62ZM/A

What model of iPad exactly?

What type of earphones are they?

If by EarPods you mean the wired Lighting Headphones, then you may need an adapter if your iPad is one with a USB-C port instead of a Lightning port.

Lightning EarPods: