Is there some way that I can download my Samsung Cloud contacts onto my iOS device?

I replaced a Samsung device with an iPhone and used Google to download most of my contacts, but some are missing from the list. I know they're backed up to Samsung Cloud, but I can't seem to find a way to access them from iOS.

All your contacts should be in your google account/email, unless you screwed it up. Absolutely no need for any 3rd party contact program on an android. As long as you put that email account on your new iPhone, all the contacts should come with it with no issues.