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"For outlook 2016, you want to install icloud on your PC. Once it is installed, it will let outlook 2016 run an "add-Ins" "iCloud Outlook Add-in" to synchronize your ical with outlook in both way. This means you can modify your ical on either outlook or iphone. Then the system synchronizes both.
If it fails, try to close outlook 2016, open icloud, uncheck the calendar. hit 'apply'. Then check calendar again"
Yep - as @MicKPM says - simply installing icloud onto your PC allows this functionality. On my Outlook 2016 install at work, I now have an icloud folder containing Contacts and various Calendars.