Slashgear brings news that there is now a VoIP app in the Apple App Store for the iPhone (and iPod Touch) which allows IP calling over 3G networks.

The software, known as iCall allows for incoming call notification even when the application is not running.

This signals a lifting of the 3G VoIP calling restrictions which Apple imposed on iPhone apps.

iCall has a closed beta of their system for the iPhone in work.

iCall allows you to route your incoming cellular network calls to your iPhone via VoIP when you are connected to a WiFi hotspot. You can also send and receive VoIP calls over WiFi.

Watch the demonstration video for more information.