I called Lionel support and after explaining what I was trying to do I was put on hold while the rep went to "talk to our engineer." When she came back the engineer reported that setting up things there like I had (Cab1 Base + Legacy Base + LCS WiFi + LCS Ser2 + TPC3000 all connected per the LCS manual) they also had no trouble operating the TPC from the CAB2 but could not control power at all via the iCab app. They were stumped and were going to have to call "our engineering folks" and get back to me. The only suggestion made was that I had to have the TPC in conventional mode.
In the meantime, the answers shared above allowed me to piece together the solution. I expect when Lionel gets back to me they will confirm what I've found. For those that may try to do this after me here is my solution.
First, the TPC needs to be in command mode and NOT conventional if it is to be controlled by the iCab app. This is easy to accomplish. You do NOT have to mess with the RUN-PRG switch on the TPC either. Assume your TPC was previously configured as "TR" 1. On your Cab1/Cab2 press <TR> then <1> then the <L> at the bottom of your Cab. (On the Cab1 this will be under the little removable cover below the red control wheel.) If you then wanted to power on the track connected to this TPC via the Cab2 you'd press <TR> then <1> then roll up on the <BOOST> wheel. To power off the track connected to this TPC via the Cab2 you'd press <TR> then <1> then <Aux1> then <0>.
To repeat the track power on and power off via the iCab app you would press <TR> (which causes the bottom part of the screen to scroll to a numeric keypad) then <1> then <Enter> as circled:
For power on you'd then go the regular run screen and press the button with the symbol for Boost (up arrow over a line - circled in green below) or for power off you'd press the reset button (circled in red below)
If you want the TPC to always be set to this command mode when it first gets plugged in then (again assuming it was configured as "TR" 1) on your Cab1/Cab2 hit <TR> then <1> then <L> then <Set>.
NOTE: If you do set your TPC to always start in this command mode then you will not be able to run conventional engines via that TPC without TMCC/Legacy decoders in them unless you first put the TPC back into conventional mode. This is easily done on your Cab1/Cab2 by hitting <TR> then <1> (again assuming it was configured originally as "TR" 1) then <M>. You'll then be able to use the red knob on the Cab1/Cab2 to once again rotate to the right to increase track voltage and rotate to the left to decrease track voltage. At this time there appears to be NO way to control a conventional locomotive via varying the track voltage on a TPC through the iCab app.
As previously noted in this thread, the Boost button on the iCab app wasn't there initially. So if your run screen doesn't look like the image above then check for an iCab app update in iTunes. The version of iCab I'm using is 1.4 under iOS 9.2 with a Legacy base at 1.6