If you sign up as a developer at the iOS Developer Center (free), you can download the Xcode and iOS SDK (again, free when you get Xcode 3), which includes a simulator capable of OpenGL ES 2.0. This, of course, assumes that you have a Mac to run everything.
Once you have the SDK, you can simply launch Xcode and create a new application based on the OpenGL ES application template. This application will be a fully functional OpenGL ES 1.1 and iOS 2.0 application that you can create and run in the simulator. You can ignore all iOS installation code and focus on the method -drawFramein the class xxxViewController.mthat contains the OpenGL ES 2.0 drawing code.
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