Apple has updated its iPhone OS SDK to allow Voice over Internet Protocol (VoIP) calls over cellular networks. According to a press release touting iCall, a VoIP application that claims to be the first to offer VoIP over 3G on the iPhone, Apple has updated both its developer agreement and SDK to allow for the new functionality. AT&T announced in October that it would allow VoIP apps to run over its 3G network, reversing a policy that limited all…