Yes, but not with a monitoring app. Apple does not let any third-party app on an Android phone read an iPhone's messages, call log or app data, so anything advertising "track an iPhone from Android" is either using a shared Apple ID or selling you location only. The honest routes are all first-party:
1. Find My through the browser. Open icloud.com/find in Chrome on the Android phone and sign in with the Apple ID on the iPhone. You get live location, play sound, and lost mode. The catch: the login triggers a two-factor code on the iPhone or on trusted devices, so the child sees it and can revoke it. That is by design.
2. Google Maps location sharing. On the iPhone: Google Maps → profile → Location sharing → Share with your Google account, set to "Until I turn it off". The most reliable cross-platform option, because both sides agree once and it survives.
3. A family app both phones install. Life360 and Apple's Family Sharing do the same job with more polish. Family Sharing keeps the child's data under your family group instead of inside your personal login.
Where our app fits, honestly: it does not run on iPhone. Ultimate Phone Spy supports Android 4.0+, Windows and macOS only (supported devices). If the phone you want to watch is an Android, it covers location, messages, call logs and installed apps from one dashboard. If the iPhone is what you are trying to follow from an Android, use option 1 or 2 — no purchase needed.
One thing worth saying plainly: signing into another adult's Apple ID without their agreement is unauthorised access in most jurisdictions, even inside one household. For a child's device you administer, the family-sharing routes above are both legal and more durable than any workaround.