As far as the UITabBar class is concerned, the icons in the bar are limited to the colours: blue for selected and grey for unselected. This is because the tab bar only uses the alpha value from the icons you supply to create the image on the bar.
The bar itself is limited to being black, as far as I can remember. I've not seen anything like the 'tint' property on UINavigationBar in the docs.
I guess you could go ahead and create your own tab bar style class and do what you want with it, but I have absolutely no idea how that fits in with Apple's HIG, or whether or not they'd challenge it during the review process.
In my experience, Apple reviewers only rejected my app if I didn't use THEIR UI elements according to the HIG. They might have a different view when it's your own UI elements you're playing with.