For Apple to support development on other platforms, as far as I can see the only practical option would be to provide an alternative to the simulator which runs a variant of iOS inside a virtual machine. While this is certainly technically feasible to do, and you could make the argument that they should provide such a tool, it does involve a lot more than simply porting a few user-space tools to run on a different OS. Android also benefits in this regard from using Java, which already has compilers available for all major platforms.
It is also worth nothing that the Android emulator, at least last time I checked, is extremely slow to the point of being unusable. When I was developing for Android I found the only realistic option was for me to test on a real device. The speed of the iOS simulator is one of the main things I prefer about iOS development in comparison to Android.