Two days following the developer-only release of iOS 10 beta 3, Apple today released iOS 10 Public Beta 2 for the iPhone, iPad and iPod touch. The software is now available to public beta testers who are signed on the Apple Beta Software Program.
For those wondering, iOS 10 Public Beta 2 and developer beta 3 offer the same features.
Folks on the first public beta with an appropriate configuration profile installed on their device should see an over-the-air download in Settings → General → Software Update.