The first time I seen this is emu4ios.net. Then I found this is very useful and convenient for my beta tester.

I shows an exmple to host the ipa & plist files on Dropbox. The reason for not host them on my personal website is due to SSL issue. See here

Without https

Invalid certificate

1st: Generate ipa file

Open your XCode, then archive the project

Archive

Then select distribute

Distribute

Select Save for Enterprise or Ad Hoc Deployment distribution method

Distribution method

Then choose the provisioning profile that you have selected before Archive

Select provisioning profile

Finally save the ipa file

Save ipa to anywhere

2nd: Create a .plist

MyApp.plist

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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
    <key>items</key>
    <array>
        <dict>
            <key>assets</key>
            <array>
                <dict>
                    <key>kind</key>
                    <string>software-package</string>
                    <key>url</key>
                <string>https://dl.dropboxusercontent.com/u/12345678/MyApp/MyApp.ipa</string>
                </dict>
            </array>
            <key>metadata</key>
            <dict>
                <key>bundle-identifier</key>
                <string>com.example.MyApp</string>
                <key>bundle-version</key>
                <string>1.0.0</string>
                <key>kind</key>
                <string>software</string>
                <key>title</key>
                <string>My App</string>
            </dict>
        </dict>
    </array>
</dict>
</plist>

3rd: Move both ipa & plist files to your Dropbox Public folder

e.g.

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Dropbox
  |---- MyApp
          |------ MyApp.ipa
          |------ MyApp.plist

Copy Dropbox public link

Then send the link over to your beta tester, then they will be able to install via Safari.