3 points
You can on any iOS device without jailbreaking. Look into AltStore or Sidestore. The caveat is that you can only sign 3 apps at a time, and must resign these apps every week - which is done over your WiFi to a PC running AltStore server.
If you have a $99/year Apple developer account, you can use AltStore to sign as many apps as you like, and you only need to resign once per year.
2 points
