The Health and Beauty categories used to be restricted as a whole, but this is no longer the case.
However, specific subcategories are now gated instead. These include, but may not be limited to:
Contraceptives
Dietary Supplements
Feminine Hygiene
OTC Medication
Sports Nutrition
Topical
Just like with gated categories, you can apply to sell in gated subcategories through Seller Central. The process is just the same, although the specific requirements will vary and might include a fee.