I signed up for a free apple ID and added my account to Xcode. The
Download All Profiles
An App ID with Identifier 'com.example.HelloWorld' is not available. Please enter a different string.
No profiles for 'com.example.HelloWorld' were found
Xcode couldn't find a provisioning profile matching 'com.example.HelloWorld'
Is there a way to download these provisioning profiles without paying $99 per year?
No. You cannot "download" anything with just the free Apple ID. You have no access to the Member Center. You simply get the development identity and simple automatically development profiles — and you already have them, though you don't seem to realize it. You are entitled to run an app on your device already.
The rest of your problem is merely that you're not using a real bundle ID. Name your apple's bundle ID uniquely, after yourself, e.g.
difool.john.myCoolApp, and all will be well. Just attach your device to your computer via USB and run on it. That's what the free ID entitles you to do.