He did a series of lectures aimed at undergraduates that CalTech recorded and made available: www.feynmanlectures.caltech.edu
It’s not “general audience” but you don’t need a doctorate to enjoy them or anything. It’s a Nobel Prize winner explaining something he’s struggling to understand at times so don’t expect to get it all on your first go but he’s about as good a science communicator as you can realistically ask for.