Felix Schulze made a simple to use example application and project for use on Apple iOS (See the original article)
It is a tutorial for using self-compiled builds of the PolarSSL-library for iOS.
You can build apps with XCode and the official SDK from Apple with this.
It also contains a small example-app for using the libraries with XCode and the iPhone/iPhone-Simulator.
You can also download the precompiled PolarSSL-library (0.14.3). You can view the example code on Felix's GitHub.