Apple does provide the AirPort Utility app on their iPhones. Although this app was designed to managed Apple AirPort base stations it also includes a "Wi-Fi Scanner" that can be used with any wireless network to measure signal quality.
Note that it is not enabled by default in the app. Instead, tap on Settings > AirPort Utility > Wi-Fi Scanner (enable)
Once enabled, you should now see "Wi-Fi Scan" in the upper right-hand corner of the app. Tap on this, and then, tap on "Scan." After a few moments you should start seeing a list of nearby wireless networks with their RSSI values in dBm. Tap on "Stop" when you want to stop scanning, and then, "Done" when finished. Don't forget to disable this feature in Settings to conserve your phone's battery life.