My 2014 Roadster is still on the stock battery no issues, as mentioned earlier I’d take it in to have it tested, you can measure across the terminals, that will tell you the stored voltage but you need a load on the battery in order to test the battery properly.
As for the voltage you measured across the battery while the bike was running it should be at the opperating voltage of the bike, over 12volts. Not much different than testing the alternator on a car, for example, if the battery is at 10volts, start the car and measure again. If the voltage accross the battery measures aprox 13 volts, the alternator seems to be working. Then while the car is running turn everything on, lights, fan, radio etc...measure again and the output should still be close to 13 volts give or take, depends on the output capacity of the alternator. If it’s around 13 volts under load the alternator is good. If after a good run the battery is still at 9-10 volts then the battery isn’t taking a charge.
If you want to load test the battery yourself then do the same thing without starting the vehicle, measure the voltage of the battery with everything off (disconnect the ground and then measure the voltage). Once you have your reading, re-connect the ground then turn everything on, lights on high beam, driving lights, whatever you got. Don’t start the bike, the battery should drop a little, maybe 11.5volts or higher. If the voltage takes a nose dive then the battery isn’t holding a charge...bad / dead cells probably...change the battery.