It's possible, but with some limitations.
Any application can register custom URL scheme. But this URL scheme "must" be unique. For example my-cool-sip-app:..., another application can have scheme like super-duper-sip-app:, etc. You can check if an application with selected URL scheme is installed or not (UIApplication, canOpenURL:).
Or, several applications can have same custom URL scheme, in your case sip:... for example. But if you have 2 or more applications with the same scheme installed, you can't say which one should handle sip:... URL. Apple's documentation:
If your URL type includes a scheme
that is identical to one defined by
Apple, the Apple-provided application
is launched instead of your
application. If multiple third-party
applications register to handle the
same URL scheme, it is undefined as to
which of the applications is picked to
handle URLs of that type.
Valid SIP URLs are:
- SIP:someone@10.1.2.3 SIP URL with IP
address.
- SIP:someone@example.com;transport=TCP SIP
URL with transport specified as TCP.
The default transport is UDP if none
is specified.
- SIP:someone@example.com Basic SIP
URL.
- SIP:+12225550189@example.com;user=phone SIP
URL with global phone number and
specified gateway.
- SIP:+1 206
555-0146@10.2.3.4;user=phone SIP URL
with global phone number format and
specified gateway.
So, if you have a SIP application installed, you should try one of the mentioned SIP URLs. Any SIP application should support it.
Here's an Acrobits Softphone application where you can read (in description) that it supports asoftphone:number URL scheme. It's good if you want to use just this application, but it's bad for the end user, because other developers are not willing to go through AppStore and add support for all custom URL schemes other than sip:...
My answer is - try sip:... and if you have good SIP application, it should handle these links flawlessly.