Here's how you generate an HMAC using SHA-256:
NSString *key;
NSString *data;
const char *cKey = [key cStringUsingEncoding:NSASCIIStringEncoding];
const char *cData = [data cStringUsingEncoding:NSASCIIStringEncoding];
unsigned char cHMAC[CC_SHA256_DIGEST_LENGTH];
CCHmac(kCCHmacAlgSHA256, cKey, strlen(cKey), cData, strlen(cData), cHMAC);
NSData *HMAC = [[NSData alloc] initWithBytes:cHMAC
length:sizeof(cHMAC)];
NSString *hash = [HMAC base64Encoding];
I'm not aware of an HOTP library, but the algorithm was quite simple, if I recall correctly.