Step 1: Spot the right triangle formed by the radius and chord.
Since the tangent is perpendicular to the radius at the point of contact, $OQ\perp AB$, and $Q$ bisects chord $AB$, so $AQ=4$ cm with $OQ=3$ cm.
Step 2: Recognise the 3-4-5 triple instead of computing a square root.
In right triangle $OAQ$ the legs are $3$ and $4$, the classic $3$-$4$-$5$ triple, so the hypotenuse $OA=5$ cm directly.
Step 3: Use the given condition $OA=AP$.
So $AP=OA=5$ cm.
Step 4: Add up along the tangent line.
$PQ=PA+AQ=5+4=9$ cm, matching option (C).
\[ \boxed{9\text{ cm}} \]