I am working on iOS 10 new sticker feature, and for this I am using Xcode 8 beta version and I drag and drop all stickers and app icons and when I'm trying to archive the app, Xcode failed with the following error:
So I checked the Build Settings - Code Signing again and again to ensure Embedded binary is signed with the same certificate as the parent app.

EDITED 19 June 2017
The approach below doesn't work anymore. What worked now was to change step 5 below to:
Ok it took me 10 attempts but I worked it out. The problem is that there are multiple settings in multiple spots. I couldn't get automatic signing to work so went the manual route. In the end this is the combination that worked for me:
I think the issue is due to the "app" and the StickerPackExtension having different Bundle Identifiers, this means they need different provisioning profiles.