First, I imagine TSA at every airport is going to be slightly different, so take what I or anyone says with a grain of salt. My experience is based on one of the busiest airports in the country and my last time traveling with a bottle-fed baby was about 5 years ago. In our case, we were separated from the main TSA line and subjected to more rigorous screening. But, the benefit of the more rigorous screening was that we were allowed to basically bring anything the baby reasonably would need while in transit (medicine, liquids, powder, etc.). They just needed to be able to test it.
I remember bringing a small 4-bottle soft cooler, but I can't remember if there were ice packs in it. It seems like there should have been. Our babies were all EBF, and our flight to Orlando is long enough that the bottles would have needed to remain cold.
The cans should almost certainly be okay.
If I recall correctly, cold bottles can sit at room temperature for four hours before they spoil (maybe check with the pediatrician because as I said, it's been a minute for me). You didn't say how long your flight is. If a cooler, even without ice packs, keeps it below room temperature long enough, maybe you don't need the ice packs.
Your best bet would be to just call TSA and confirm.