Auth0 Api authentication for external users

hi, I have an Single-Page authentication API which is being used to communicate between front and backend.

I want to expose the same api to external users so that they can query some data from server (user authorization is done at application level). Is it possible? if yes, then I have to provide these users a access token but I am not sure how to generate it, I have tried multiple things but couldn’t figure out the right solution. I am new to Auth0, sorry if this question sounds dumb. thanks