In this case, $\tau_a$'s are Pauli matrices, i.e.,
$$
\tau_1=\left(
\begin{array}{cc}
0&1\\
1&0
\end{array}
\right),\quad\tau_2=\left(
\begin{array}{cc}
0&-i\\
i&0
\end{array}
\right),\quad\tau_3=\left(
\begin{array}{cc}
1&0\\
0&-1
\end{array}
\right).
$$
Therefore,
\begin{align}
A_{\mu}=A_{\mu}^a\tau_a&=A_{\mu}^1\tau_1+A_{\mu}^2\tau_2+A_{\mu}^3\tau_3\\
&=A_{\mu}^1\left(
\begin{array}{cc}
0&1\\
1&0
\end{array}
\right)+A_{\mu}^2\left(
\begin{array}{cc}
0&-i\\
i&0
\end{array}
\right)+A_{\mu}^3\left(
\begin{array}{cc}
1&0\\
0&-1
\end{array}
\right),
\end{align}
where $A_{\mu}^a$'s are scalar-valued functions.