My first instict would be to use an LM317 with the right pair of resistors to give 11.4V; that's what it was designed for. But as Clint points out, a 7809 can be used in the same way (with different resistor choices, of course), and I might choose that solution if I had a pile of 7809s and no 317s. But both of these solutions have the problem of dropout. When the engine is off, a car's electrical system is pretty close to the desired 11.4V output. (Note that the original LM7812 solution has a worse problem of dropout). So a low dropout solution is probably better. An LT3080?
I went and read the Icom T90a manual, to get the quotes in context. Where it says "If a battery pack is attached, the voltage of the external power supply must be within 11.5–16 V DC, otherwise, the battery power may be used for operation", the word "external" seems to me to be referring to the input to the CP-19 voltage regulator, not to its output. So it looks like what you want is to get the input to the radio (output of your regulator) as close to 11.5 as practical without exceeding it.
I would NOT use a resistor divider on the output of the voltage regulator. Besides wasting power, it causes the output voltage to vary with current draw.
The suggested mc3063 might work, but for radio applications, I'd be a bit wary of switching noise. I don't know if it would be a problem or not, but a linear solution is simpler (fewer external components) and more likely to be noise-free.