Yes, there's a free one for the Mac simply called telephone, you can
find it in the Mac Apps Store.
The App seems to be completely accessible though I've not as yet got the
App working on any of my VOIP lines, most likely cause is that I'm
entering data incorrectly as the App isn't too clear on exactly what
should be entered and where so I'll keep trying.
Telephone App is very flexible, and the preference panes show this, you
can assign input and output audio devices for example - I've assigned
Telephone to the headset microphone and the headset speakers for example -.
Telephone will try to access the contacts of the Mac and you will be
prompted for permission.
You can of course enter a number manually and the status of your VOIP
service is displayed, the view on the main screen is refreshingly
uncluttered.
Whilst Telephone is a piece of free software the user is asked to
support the App by a donation, this pop-up window appears every time you
launch the App but can be closed.
If I can get the telephone App working then I'll certainly give a
donation to support the Apps development, Telephone App would be a very
handy addition to my Mac machine.