What is an ICC profile? Ok, if you have an RGB picture with a red color (255,0,0) in it. Which red color is this? The red which is displayed by your monitor? By your printer?? By my printer??? So you need a translation of color numbers into real colors. The ICC profiles are part of Windows (and Mac-OS) color management systems. These tables tell your computer, how to interpret the color numbers. For a completely color managed workflow your need ICC (or ICM) profiles for your input device (scanner, camera), monitor and printer. For the Canon G2 a first guess is to use the sRGB profile, but to get more precise colors an exact color profile would be much better.
For a deeper understanding you can find several articles on color management in the internet, for example www.adobe.com/support/techguides/color/colormanagement/cmsdef.html
Hope that helps.
Reinhard