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Bose–Einstein condensation (BEC) is a quantum phenomenon in which a macroscopic number of bosons occupy the lowest energy state and acquire coherence at low temperatures. In three-dimensional antiferromagnets, a magnetic-field-induced transition has been successfully described as a magnon BEC. For a strictly two-dimensional (2D) system, it is known that BEC cannot take place due to the presence of a finite density of states at zero energy. However, in a realistic quasi-2D magnet consisting of stacked magnetic layers, a small but finite interlayer coupling stabilizes marginal BEC but such that 2D physics is still expected to dominate. This 2D-limit BEC behaviour has been reported in a few materials but only at very high magnetic fields that are difficult to access. The honeycombS = 1/2 Heisenberg antiferromagnet YbCl₃exhibits a transition to a fully polarized state at a relatively low in-plane magnetic field. Here, we demonstrate the formation of a quantum critical 2D Bose gas at the transition field, which, with lowering the field, experiences a BEC marginally stabilized by an extremely small interlayer coupling. Our observations establish YbCl₃, previously a Kitaev quantum spin liquid material, as a realization of a quantum critical BEC in the 2D limit.