If there is any significant load, I wouldn't rely on pushing against the foam or just attaching to the ICF ties. Typically, you would cut out a section of the foam where you need a strong attachment before you pour, then cut a piece of plywood large enough to cover the hole and extend out far enough to cover the adjacent ICF ties. Then screw the plywood to the ties. This will allow the wet concrete to flow out to be flush with the face of the foam where you have the cutout. It doesn't take a very large area of concrete to support a large load. You many only need a 3"x3" or 4"x4" or 4" round cut out to support your load. If you need an anchor at this point, you can drill a hole in the plywood scab and install a J bolt anchor with nuts on both sides of the plywood to hold it in place during the pour. It is also not a bad idea to put a 1/4" or so hole in the plywood right at the top of your cutout to let any trapped air out so that you don't have void pockets in the concrete face. Tapping the plywood with a hammer during the pour will also aid in consolidation and eliminating voids in the concrete face.
Here is an example of a deck support cutout:
