I've solved the problem.
�??Type Changes between ArcGIS 9.3 and ArcGIS 10.0�?� shows that this interface MOVED from GeoprocessingUI to Geoprocessing, but it has NOT moved.
I finally found the GeoprocessingUI reference, which was hidden by filters.
After changing the "Add ArcGIS Reference" filters to "Filter by Product" and selecting "ALL", I finally located the GeoprocessingUI - it was not deprecated.
After adding the GeoprocessingUI reference, the IGPToolCommandHelper works.