Maybe you meant to ask about I2S? It's completely different from I2C, despite the 2 of the 3 characters being identical, which makes them look visually similar when written.
I2S is for streaming audio. It uses 2 or 3 clocks, called BCLK, LRCLK and (optionally) MCLK are used. 1 or 2 data wires are used. All the signals are unidirectional. Data is sent continuously (though some of the bits in each frame may be zeros or ignored), without any sort of acknowledgements or handshaking. The transmitting side simply sends and has no way to "know" if the other side really received the data.
I2C is for low-speed control. I2C uses 1 clock and 1 data signal, called SCL and SDA. Both may be bidirectional, though in most cases only SDA is bidirectional. Data is sent in short bursts. Every byte has an ACK bit for the receiving to confirm to the transmitter.
The audio shield uses *both* I2S and I2C. The audio data is done by I2S, and initial setup and ongoing control of hardware settings is done by I2C.
To specifically answer your question about pin numbers, I'm going to refer you to the audio shield page (which has this info), and to the I2S page in the design tool, where you can find the pinouts on the right-side documentation panel.
https://www.pjrc.com/store/teensy3_audio.html
https://www.pjrc.com/teensy/gui/?info=AudioInputI2S
https://www.pjrc.com/teensy/gui/?info=AudioOutputI2S
If you haven't used the audio shield and audio library, before you try something complex I'd highly recommend the tutorial. It's a 31 page PDF. We also have a 45 minute walkthrough video, in case you get stuck with any parts.
https://www.pjrc.com/store/audio_tutorial_kit.html
Many of the answers to your questions will end up being in terms of how the library works, so if you haven't yet used it, please do yourself a favor by checking out the tutorial. It'll help you come up to speed on the basics, which you really need if you're going to do something involving 2 boards.