How do I get the data from iCloud onto this new iPad?

Presumably you are setting-up a new iPad…

These support pages should get you started with setup of your new iPad - and the methods of transferring your data from old to new iPad:

Set up your iPhone, iPad or iPod touch – Apple Support

Transfer data from your previous iOS device to your new iPhone, iPad, or iPod touch - Apple Support

Use Quick Start to transfer data to a new iPhone, iPad or iPod touch – Apple Support

If the donor iPad, from which you are transferring your data precedes iOS12.4, QuickStart will not be available.

“Transfer” is rather a misnomer. In reality, your data and setup is merely cloned to the new device. Nothing is moved or removed from the original device.

An alternative is to restore either an iCloud or iTunes backup to the new device:

How to back up your iPhone, iPad and iPod touch – Apple Support

Restore your iPhone, iPad, or iPod touch from a backup - Apple Support

Any data previously synchronised with iCloud can be easily synchronised with your new device - just so long as you are using the same AppleID:

Settings > [Your Name / AppleID] > iCloud

Enable all the Apple Services and Apps that you wish to synchronise via iCloud.

More information can be found in the iPad User Guide:

Use iCloud on iPad - Apple Support