The Citrix Virtual Channel software development kit (SDK) supports writing server-side applications and client-side drivers for more virtual channels using the ICA protocol. 

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Instructions

Yes, the Citrix Virtual Channel software development kit (SDK) supports writing server-side applications and client-side drivers for more virtual channels using the ICA protocol. 
The server-side virtual channel applications are on Citrix Virtual Apps and Desktops servers. 

Refer to below document for more details.
https://docs.citrix.com/en-us/citrix-workspace-app-for-windows/sdk-and-api#citrix-virtual-channel-sdk