As you can already tell (given the parent and child are on different domains), you definitely cannot reach up from the child iFrame into the parent to listen for events.
One way around this is to pass messages between the pages. This will require your clients to include additional javascript in their page as well as the iFrame which points to your server. This is supported in native javascript with postMessage, but including the library @Mark Price suggests will make your life much easier.
So here goes an example:
Clients Page:
...
<script type="text/javascript" src="jquery.min.js"></script>
<script type="text/javascript" src="jquery.postMessage.min.js"></script>
<script type="text/javascript">
$(document).ready(function () {
$("#TestButton").click(function(){
jQuery.postMessage("say_hi", "myserver.com/some_html_page.htm");
});
});
</script>
</head>
<input type="button" value="Say Hi" id="TestButton">
<iframe src="myserver.com/some_html_page.htm"></iframe>
Code on myserver.com/some_html_page.htm:
...
<script type="text/javascript" src="jquery.min.js"></script>
<script type="text/javascript" src="jquery.postMessage.min.js"></script>
<script type="text/javascript">
// you will need to set this dynamically, perhaps by having your
// clients pass it into the URL of the iFrame,
// e.g. <iframe src="myserver.com/some_html_page.htm?source_url=..
var source_origin = "clients_page.com/index.html";
var messageHandler = function (data) {
// process 'data' to decide what action to take...
alert("Hi");
};
$.receiveMessage(messageHandler, source_origin);
</script>
</head>
Probably it would be nice to bundle the client code up into a single library that they could include, so your clients aren't burdened with writing their own javascript.
As a caveat, I wrote this code off the top of my head and it is likely be rife with typos. I have used this library before to accomplish similar goals, and I hope this answer is a useful jumping off point for you (along with the plugin documentation).
Let me know if I can clarify anything, and best of luck! :)