The answer from dbarnard has the formula to calculate the correct radius, but since you were looking for the templates, all the masks and overlays can be found in this directory:
/Applications/Xcode.app/Contents/Developer/Platforms/iPhoneSimulator.platform/Developer/SDKs/iPhoneSimulator5.1.sdk/System/Library/PrivateFrameworks/MobileIcons.framework
(path is for recent versions of XCode. For older version it will probably be inside /Developer/).
As others have noted, you should NOT mask them yourself, but you can use these to check how your icons will look once masked.
(credits for this finding goes to Neven Mrgan IIRC)