Yes, you include the use of Apple Pencil. Also, if it's an important or special feature in your app, you may want to mention it in your application or Playground, just so you can be sure they try it.
"Your Swift playground must be fully functioning, and be written in and run on Swift Playgrounds 3.3 on iPadOS 13.4.1, Swift Playgrounds 3.3 on macOS 10.15.4, or Xcode 11.4.1 on macOS 10.15.4. If it runs on iPadOS, it must be optimized to display properly on all models of iPad Pro. You may incorporate the use of Apple Pencil. Xcode projects will not be considered."
Good luck on your Playground!