Setting the post parameters in the HTTP body is pretty straight forward with NSMutableURLRequest, you can wrap it in a convenience method via a category if that's more desirable, similar to the OAuth library on google code:
http://oauth.googlecode.com/svn/code/obj-c1/OAuthConsumer/NSMutableURLRequest+Parameters.m
Checkout the setParameters override, specifically these lines:
NSData *postData = [encodedParameterPairs dataUsingEncoding:NSASCIIStringEncoding allowLossyConversion:YES];
[self setHTTPBody:postData];
[self setValue:[NSString stringWithFormat:@"%d", [postData length]] forHTTPHeaderField:@"Content-Length"];
[self setValue:@"application/x-www-form-urlencoded" forHTTPHeaderField:@"Content-Type"];
Of course, you'll want to adjust the content-type header for the specific content of your post body (e.g. json, xml, etc).