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That is why Daedalus does not yet support iCloud sync (just backup). However, it would make sense to add iCloud support if we added more platforms, like a desktop companion app.
To enable iCloud backup, go to the (system) settings > iCloud > Storage & Backup and switch iCloud Backup to On.
Basically, iCloud Backup backs up your Daedalus stacks to the cloud, so in case you ever lose your iPad or re-install iOS, you can restore your stacks and sheets from iCloud.
Here's an Apple Support document describing how iCloud backup and restore works.