Are there iOS apps for taking notes with Apple Pencil in color, grid, and with pages to print?
Notability is the app you want to use but it is $8.99. There is also a version for Macs as well. This allows multiple colors and it opens with a large page to write on. I can't vouch for it because I use Notes but Notability is a popular app. You can read about it at the link I included.
There is a free app called Notes Writer which you could check out since it's free.