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This page is about mobile projects. A website project has no build: it tests a URL, so there is nothing to upload and nothing to install. See Web testing.
Every run on a mobile project needs a build: the app artifact the agent installs on the cloud device. A project can hold builds for both platforms, and each run picks which one to use. Builds can be up to 600 MB.

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iOS builds run on a simulator

This is the part people get wrong, so it is worth being blunt: iOS tests run on an Apple Simulator, which cannot install a device .ipa. An .ipa is signed and arm64-only. Uploading one is refused rather than accepted and failed later, where it would look like a broken test instead of the wrong file. Build for the simulator SDK and zip the .app:
The archive’s top-level entry must be MyApp.app/. If it is Payload/MyApp.app/ you have re-zipped an unpacked .ipa, and the bundle inside is still a device build. That is refused too, for the same reason.

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From the dashboard

Open the project’s Mobile tab and drop the file in. The platform comes from the file, so one upload area takes either. Uploads are kept rather than overwritten, and the newest build for each platform is the one runs install.

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From CI

You do not upload anything yourself. Connect the repository to the project and the GitHub App takes the build straight from the artifact your workflow already uploads, on every pull request.
Uploading does not disturb a run that has already started. In-flight runs keep the build they began with, and a queued run uses the newest build for its platform when it starts.