How to set up Android VoIP pushes?
Long story short, a comparable feature of an iOS VoIP pushes simply wake up your app in the background, which allows you to schedule a local notification, that's it.
At the moment there are no such out of the box solution for the Android platform at all and therefore there is no similar push technology which can assist you in such a task.
In case if you would like to somehow replicate iOS VoIP behavior - the most convenient approach will be to implement the background service in your app which will listen to some events or state changes and will awake your app when the call happens.
Summarizing said above, it is worth to emphasize that the Android itself does not provide any kind of "turnkey" VoIP pushes functionality, so you can look up for third-party library or solution, otherwise, it should be built from scratch.