I had to build a SIP app for work, currently we are using Linphone which can be found here https://github.com/BelledonneCommunications/linphone-android
It provides a ton of features from VOIP, Chat (text) Video Calls, remote provisioning, as well of a slew of codecs including G729. It does require compiling its C files to java and it takes a little bit for trying to get that to work. This can be done on Windows though it is a fair bit more work and you're better off to use Linux to this.