I didn't find an answer to my original question, but I did find another approach that works even better (at least for my purposes).
This doesn't use jQuery on the parent page (which is actually a good thing, as I'd prefer not to load it there), but it does load jQuery in the <iframe> in an apparently completely valid and usable way. All I'm doing is writing over the <iframe>'s document object with a new one created from scratch. This allows me to simply include a <script> element in a string which I then write to the <iframe>'s document object.
The code:
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8"/>
<title>frame</title>
</head>
<body>
<div id="test"></div>
<script type="text/javascript">
// create a new <iframe> element
var iframe = document.createElement('iframe');
// append the new element to the <div id="bucket"></div>
var bucket = document.getElementById('test');
bucket.appendChild(iframe);
// create a string to use as a new document object
var val = '<scr' + 'ipt type="text/javascript" src="http://jqueryjs.googlecode.com/files/jquery-1.3.2.min.js"></scr' + 'ipt>';
val += '<scr' + 'ipt type="text/javascript"> $(function() { $("body").append("<h1>It works!</h1>"); }); </scr' + 'ipt>';
// get a handle on the <iframe>d document (in a cross-browser way)
var doc = iframe.contentWindow || iframe.contentDocument;
if (doc.document) {
doc = doc.document;
}
// open, write content to, and close the document
doc.open();
doc.write(val);
doc.close();
</script>
</body>
</html>
I hope this helps someone down the road!