You can use Qt Creator : connect your Ubuntu Touch Device via a USB port, open your project and just press Ctrl+F12 .
This only works if you once installed an ssh server on the device.
Alternatively, you can do this manually . Copy the necessary files (* .qml and * .desktop) to the device and run the application via ssh
qmlscene --desktop_file_hint=/usr/share/applications/qmlscene.desktop YourApp.qml
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Remember that this is a beta version, and if you are not a developer, then at this stage you will not have much benefit for Ubuntu Touch. In the end, Ubuntu Touch will have its own app store, where it will be much easier to download applications and install them on your device.
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