is it ok to put the side nav menu on application for the iOS? Because I can't find it on iOS guideline design.
It's not in the guidelines, but it's okay to include in your app -- various other apps (some examples here) include it too.
That said, there are lots of articles that argue against hamburger buttons in general -- I'd recommend reading those. The general argument goes that you should be able to fit your main top-level navigation items in a tab bar, and if you can't, maybe your app is trying to do too much at once.
No, at least not if you want to listen to apple.
See my answer on this question: Is it OK to use hamburger menus in iOS?