Yes. In ExifTool, some metadata is treated as "unsafe" to write—typically tags that can change how the image appears, such as color/profile-related data. Those tags are not always copied by a broad -tagsFromFile operation unless you explicitly name them.

So the key is: if the ICC/color profile is being skipped, specify that profile-related tag explicitly rather than relying only on wildcards or a general metadata copy.

If you prefer a simpler workflow, ExifToolGUI can do this interactively: choose the source image, use the metadata copy/import function, select the destination file, and enable all relevant metadata options. Community reports indicate this successfully copies embedded ICC profiles between JPEG/TIFF files.

In short: ExifTool can do it, but profile/color tags may need to be explicitly included because they are considered unsafe; ExifToolGUI is an easier alternative if the command line is frustrating.