Hi Oscar,
The SC18IM704 does allow to write to target device register.
Look at the example in the UM11664 (page 7):

So the register address actually corresponds to DATA 0 in Figure 3:

As for reading from a specific register, you need first to specify the register address:

Then you need to specify the number of bytes to be read starting from this address:

I hope it makes sense.
Just to add that the 7-bit slave address of the EEPROM used on the EVB is 0x50 which translates to 0xA0 for a write and 0xA1 for a read used in these examples.
Best regards,
Tomas