Absolutely! Any iPhone or iPad can be used with the USB input on Audioengine speakers, or with external DACs like the D1 or D3. How you'll do so depends somewhat on the iPhone or iPad, and whether you're using speakers, or an external DAC.
For the USB input on speakers (A2+, HD3):
You can connect iPhones, iPod Touch, or older iPads which use the lightning port, Using Apple's Lightning to USB Camera Adapter, or Lightning to USB 3 Camera Adapter. Then just hook up as you would from a computer. With the USB 3 adapter, you can even charge your iOS device while you use it!
With the newer iPad Pro models that use a USB type C port, you can use any USB type C to micro B cable, or any USB type C to type A adapter that you'd like. You can even use USB hubs if you need to use other USB accessories alongside the speakers.
For external DACs like the D1 and D3:
to connect iPhones, iPod Touch, or older iPads which use the lightning port, you will need to pick up Apple's Lightning to USB 3 Camera Adapter. The non USB3 version will not work, as iOS requires a device to be charging for this adapter to work with a bus powered device that draws more than 20mW.
Simply connect the DAC to the USB A port on the lightning adapter, connect the charger to the lightning adapter, and connect the adapter to the lighting port on your device. It's important that the charger you use is able to charge your device, as well as supply enough power to the DAC. For this reason, we recommend using Apple's fast charger for your device, for the best results.
Apple does not place the same power restrictions on the newer iPad Pro models that use a USB type C port. Because of this, even with external DACs that are bus powered, you can use any USB type C to micro B cable, or any USB type C to type A adapter you'd like, with no need to ensure the device is being charged. You can even use USB hubs if you need to use other USB accessories alongside the speakers.