Is there any way to test on the iPhone/iPad/iPod from a Windows PC. Apparently the Apple SDK only runs on the Apple OS.
No, unless you create a create a partition with Mac OS on it or run it through some kind of virtual machine. I'm sure Apple has some kind of TOS agreement about using only macs for development.
http://answers.unity3d.com/questions/16549/what-do-i-need-for-iphone-development