Have you figured out how to do this yet? I'm having the same issue.
I recently had to restore my entire macbook pro, erasing everything on it. I have all my ical info on my iphone but do not know how to get it from the phone and put it back on my computer. I am unable to sync my iphone with my computer for fear of it erasing my ical info that still remains intact on my phone. How can I take it from my phone and get it back on my computer??