I have not yet worked with bnd directly but through the maven bundle plugin which should be fairly similar. What I found is that if you export a package you do not have then bnd will embed the classes of this package inside your bundle jar.
So at least when using the maven bundle plugin bundle B should have the interface embedded when the export of com.foo.api is defined. Not sure what happens when you define only the parent package as export but I would assume the same happens.
This automatic embedding can be quite useful if you want to deploy the api together with each bundle which I do not do regularly but which seems to be a kind of best practice in OSGi (for example for bundles that implement OSGi apis).