I've never done it on ICS, but I assume its the same as all other android. You log into your companies traveler server from the device and download the installer. e.g. https://traveler.company.com login with email and then hit configure device. You need to have untrusted sources turned on. Once you launch the apk you enter in the traveler server and your account info.
Your IT dept should be able to give you the details.