The page @konrad.sopala linked has what you are looking for
There is a section (Update Grant Types) on how to authorize an Application for a given API (audience
) using the Management API (Auth0 Management API v2). This is what you’re looking for.
We use something along the lines of (Node.js SDK):
return ManagementClient.createClient(params)
.then((client) => {
ManagementClient.createClientGrant({
client_id: client.client_id,
audience: audience,
scope: ["sample-scope"]
});
return client;
});