Aioice

#!/usr/bin/env python

import asyncio
import aioice

async def connect_using_ice():
    connection = aioice.Connection(ice_controlling=True)

    # gather local candidates
    await connection.gather_candidates()

    # send your information to the remote party using your signaling method
    send_local_info(
        connection.local_candidates,
        connection.local_username,
        connection.local_password)

    # receive remote information using your signaling method
    remote_candidates, remote_username, remote_password = get_remote_info()

    # perform ICE handshake
    for candidate in remote_candidates:
        await connection.add_remote_candidate(candidate)
    await connection.add_remote_candidate(None)
    connection.remote_username = remote_username
    connection.remote_password = remote_password
    await connection.connect()

    # send and receive data
    await connection.sendto(b'1234', 1)
    data, component = await connection.recvfrom()

    # close connection
    await connection.close()

asyncio.get_event_loop().run_until_complete(connect_using_ice())