There are definitely tools that can be used to exploit people’s iCloud data, but they cannot be installed and run in the iCloud system itself. That’s a basic security concept of all user cloud based data storage only systems. They do not allow the execution of any code within the users storage silo.
And all of the known or identified exploits still require having legitimate login access to the accounts being exploited. So your AppleID has to be compromised for any computer running any of that sort of software to actually get in and steal your data.
So for example, there are keyboard loggers that can be used by someone to record your key strokes. They way your devices get infected is someone gains access to your AppleID. They use your AppleID and password to restore one of their devices using your iCloud backup file. They then add their malicious code to their device, and make an updated backup, again though using your AppleID and your iCloud. The hacker then does something like a remote erase of your device, or less drastically, maybe deletes a bunch of messages or files you had in iCloud Drive. That will hopefully make you then restore your device from your iCloud backup, thus installing their hack onto your device (their code cannot run in iCloud itself, but it can run in iOS just fine once you’ve restored with the hacked backup).
But it all comes down to the hacker first acquiring, somehow, the ability to use your AppleID to login to your iCloud account as you. It is also one of the reasons Apple is being so forceful with 2 factor authentication - to add that extra layer of security to your AppleID beyond just a password.