Is there a way to compile a Titanium app for iPad without having the device? I have some beta testers but need to compile the ipa file to send to them.
You should be able to. I did this same sort of thing for a while with iPhone. I've been compiling in xcode rather than titanium because it was working better for me. YMMV. If you do it that way, select that you're compiling for a device rather than the simulator. Configure the project properties as needed – mainly make sure you specify your development and ad hoc certificates in the properties list.
You can probably follow most of the steps at http://developer.appcelerator.com/doc/mobile/guides/distributing_for_test_iphone but just do it for ipad.
Here are the new and explicit instructions on how to do it for any iOS device:
Worked a treat for me!