At long last Apple has released info on how to update the firmware on various AirPod models. According to an AirPods firmware support page, here’s how:
° Make sure that your AirPods are in Bluetooth range of your iPhone, iPad, or Mac that’s connected to Wi-Fi.
° Put your AirPods in their charging case and close the lid.
° Plug the charging cable into your charging case, then plug the other end of the cable into a USB charger or port.
° Keep the lid of the charging case closed, and wait at least 30 minutes for the firmware to update.
° Open the lid of the charging case to reconnect your AirPods to your iPhone, iPad, or Mac.
° Check the firmware version again.
If you still can’t update your firmware, reset your AirPods, then try to update your firmware again.