On Raspberry Pi for example, you can write the hash of your own public key to locations 47-54 of the OTP memory block:
https://www.raspberrypi.com/documentation/computers/raspberr...
Here's the QuickStart for the entire process: https://github.com/raspberrypi/usbboot/blob/master/secure-bo...
Note that the Raspberry Pi does not have a full TrustZone implementation to protect secure mode memory, etc. But it is a widely available device with good documentation and allows developers to experiment with and learn about the basics of TrustZone architecture.
If you start building your own hardware and/or buy devices with unlocked bootloaders, you can load whatever you want in EL3 to play with TZ. This isn't a problem with TZ.