Use numpy.add.at:
>>> import numpy as np
>>> A = np.array([1,2,3])
>>> B = np.array([10,20,30])
>>> I = np.array([0,1,1])
>>>
>>> np.add.at(A, I, B)
>>> A
array([11, 52, 3])
Alternatively, np.bincount:
>>> A = np.array([1,2,3])
>>> B = np.array([10,20,30])
>>> I = np.array([0,1,1])
>>>
>>> A += np.bincount(I, B, minlength=A.size).astype(int)
>>> A
array([11, 52, 3])
Which is faster?
Depends. In this concrete example add.at seems marginally faster, presumably because we need to convert types in the bincount solution.
If OTOH A and B were float dtype then bincount would be faster.