Can I track the Apple Pencil with the Apple iPad?

No. Apple Pencils are not trackable at all.

You'll need to search for it the old fashioned way.

The best you can do, is check the Bluetooth settings on the iPad and see if its close enough to the iPad to be connected still. Then you have a limited area were it could be.

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There are no technical means by which a mislaid Apple Pencil can be located. Even if still charged, a motionless Pencil will shut-off its Bluetooth connection to save power - and be undetectable.

The only method to locate a lost Pencil is the Mark1 eyeball...

Yes me too I lost it recently