As expected, some iPhone 6s specific features are making their way to older devices in form of Cydia tweaks. Forcy is one of those tweaks and it basically brings 3D Touch-like gestures to any devices capable of running iOS 9.
Once installed, Forcy takes care of everything. There are no settings to configure, all you have to do is swiping up on an app icon. However, the tweak is not compatible with all the apps you might have installed just like 3D Touch on iPhone 6s. It works however with all the stock apps like Phone, Messages, Calendar, Camera, News, Mail, Contacts etc.
Forcy is available right now in Cydia via BigBoss repo. Check out a video of Forcy in action below. Video is in Spanish but you get the idea.