I have found the solution creating an aggregate target and adding the following run script in the build phase section.
I will name the static library target name as StaticLibraryName for the example.
xcodebuild -project "StaticLibraryName.xcodeproj" -configuration "Release" -target "StaticLibraryName" -sdk iphoneos
xcodebuild -project "StaticLibraryName.xcodeproj" -configuration "Release" -target "StaticLibraryName" -sdk iphonesimulator
mkdir -p "${SRCROOT}/Products/StaticLibraryName.framework"
mkdir -p "${SRCROOT}/Products/StaticLibraryName.framework/Versions"
mkdir -p "${SRCROOT}/Products/StaticLibraryName.framework/Versions/A"
mkdir -p "${SRCROOT}/Products/StaticLibraryName.framework/Versions/A/Resources"
mkdir -p "${SRCROOT}/Products/StaticLibraryName.framework/Versions/A/Headers"
ln -s "A" "${SRCROOT}/Products/StaticLibraryName.framework/Versions/Current"
ln -s "Versions/Current/Headers" "${SRCROOT}/Products/StaticLibraryName.framework/Headers"
ln -s "Versions/Current/Resources" "${SRCROOT}/Products/StaticLibraryName.framework/Resources"
ln -s "Versions/Current/StaticLibraryName" "${SRCROOT}/Products/StaticLibraryName.framework/StaticLibraryName"
cp -R "build/Release-iphoneos/usr/local/include/" "${SRCROOT}/Products/StaticLibraryName.framework/Versions/A/Headers/"
lipo -create "build/Release-iphoneos/libStaticLibraryName.a" "build/Release-iphonesimulator/libStaticLibraryName.a" -output "${SRCROOT}/Products/StaticLibraryName.framework/Versions/A/StaticLibraryName"
libtool -static -o "${SRCROOT}/Products/StaticLibraryName.framework/Versions/A/TheOtherFrameworkName" "${SRCROOT}/Products/StaticLibraryName.framework/Versions/A/TheOtherFrameworkName" "${SRCROOT}/Vendor/TheOtherFrameworkName.framework/Versions/A/TheOtherFrameworkName"