It's been quite a while since I worked with this, so I did a quick check again and now I am fairly certain you misunderstood something you've read. As far as I can tell, Apple did not suddenly revert their previous decision to restrict the public frameworks to scan for access points, i.e. specific MAC addresses and their signal strength.
You can query the specific rssi (signal strength) for a network (i.e. for an ssid), but not for individual MAC addresses. Before iOS 5 you could do that using private APIs, then you could do it with private APIs on a jailbroken device and that's pretty much it.
I don't have the code of my own, old stuff at hand (I used to do this for indoor location tracking before we switched to use iBeacons), so I can't provide you with a sample snippet myself. My code is dated and no longer functioning anyways, but you might find something here.
I would be really interested in the sources you mention that claim iOS 10 now allows this again. Apple closed this for privacy considerations (officially at least, and although this might be true in part it also means developers dealing with location-tracking now need to rely fully on Apple's framework for that only), so I highly doubt they went back on it.
Also, note that this is for sure not something trivial, especially if you're new to iOS development. I haven't even tackled the background idea, you can safely forget about that, because no matter what you do, you will not have a scanner that runs continuously in the background. That's against a very core principle of iOS programming.