Yes. iPhone was a registered trademark of Cisco's, and this was something that Apple was fully aware of[1]. They pulled the same thing a couple of years later with iOS. If anything, it's much more likely that the KitKat name was done with Nestle's approval, given that they're at least getting recognition/a product tie-in.

[1] http://www.cultofmac.com/143006/how-steve-jobs-steamrolled-c...