The Motorola's use a 10 pin RJ-50 plug. The Icom uses an 8 pin RJ-45 plug.
The 10 pin RJ-50 will fit into an 8 pin RJ-45 jack. But obviously you are going to either need to make an adapter cable, cut the connector off the Motorola and install a new plug with the pins lined up, or steal the mic cord from the Icom mic and connect it to the Motorola mic.
Other than the voltage challenge, you may have some issues with mic sensitivity. I don't know the exact mic specs on these and if they'll match up.
But, I get it. I always hated the ham radio microphones. Zero ergonomics and a cluster***k of buttons that just got in the way. Replacing the stupida$$ Icom mic with the Motorola, or something similar, would be an improvement.
One of several reasons why I got rid of all my amateur radios and switched to LMR gear.
Good luck.