import maya.cmds as mc
#objs:
objA = "pSphere1"
objB = "pCube1"
#store all objB verts:
objBV = mc.ls(objB+".vtx[0:]", flatten=True)
#run loop on each one to gather their world positions and place a duplicate of objA at that position
for v in objBV:
pos = mc.xform(v, q=True, a=True, ws=True, t=True)
dup = mc.duplicate(objA)
mc.xform(dup, a=True, ws=True, t=(pos[0], pos[1], pos[2]))