Along with the iPad media event today, Apple released the iPhone SDK 3.2 beta which can be used for iPad development immediately. It does not support the iPhone or iPod touch.
With this software you can develop applications that run on iPad using the included iPad Simulator, which runs iPhone OS 3.2. Additionally, you can develop applications for iPhone and iPod touch, which run on iPhone OS 3.1.2. Installing the iPhone SDK 3.2 beta requires an Intel-based Macintosh computer running Mac OS X 10.6.2 (Snow Leopard) or later.
The Xcode development environment includes a new iPad simulator. And there are guidelines for developing universal applications that take full advantage of the technologies on the iPod touch, iPhone, and iPad from a single binary.
We have installed the SDK today and will be reporting on it over the next couple of weeks.