Unfortunately VTP is not supported on IOS AP's. You have to manually create VLAN's on the AP. Even though I love CLI as much as the next guy the easiest (I mean a lot easier) way to do this is through the GUI. Go to Services -> VLAN
They don't have to match numerically but would be best practices if you did. Only SSID's associated with VLAN's will allow wireless clients to associate on version 12.3.7 or higher.
I wish Cisco would fix this annoying piece!