No. It's misleading to say it works on iOS. There are some companies who sell spyware that works by using the iCloud password you provide to get certain data from there.
But there is no easy service you can buy to start monitoring cameras and microphones.
Your entire comment is misleading. To install things from an APK on Android you have to go into the settings, disable security, download the APK and click through multiple prompts.
On iOS, you can't disable security at all (yay freedom), but you can just jailbreak the phone and install whatever you want. If the attacker has physical access to the phone, security on both platforms is comparable, i.e. zero.
Jailbreaks have been much harder to come by since iOS 10. There actually hasn't been a publicly available jailbreak of the current version of iOS since ios 9.3.4. The only way to have a jailbroken phone on 10 was to know ahead of time to stay on iOS 10.1.1. By the time the 10 jailbreak was available Apple had already patched the vulnerabilities and made it impossible to downgrade. It's not something you can do on the spur of the moment. Either you spend an ungodly amount of time writing your own jailbreak, or you monitor reddit like a hawk trying to anticipate which version of iOS is most likely to be hacked in the future.
On top of that there is no such thing as an unteathered jailbreak for iOS 10. The best you can hope for is a semi teathered jailbreak which requires you to manually run an app every time your phone restarts.
It's not misleading, even if you have the device, there is no way currently on iOS to secretly do nasty things like remote audio and video monitoring.
Also doing all those steps you mention are meaningless is many cases because an attacker close to you (think bitter divorce or corrupt business colleague) can just grab your phone for a minute and your goose is cooked.
But there is no easy service you can buy to start monitoring cameras and microphones.
In general it's more secure than Android.