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This guide shows you the steps to configure a SIP phone to register with Twilio. If you have any feedback, please feel free to leave comments here.

Here’s the steps you can follow up to set it up on your end. The main reference is from this link,
Please follow this first, and I will just highlight the points you may need to pay attention to.
1. Register your SIP Endpoint
 Please make sure include us1 in the domain,
{domain-name}.sip.us1.twilio.com – (North America Virginia)
2. Launch the sample webapp to Heroku
You can deploy your own Webapp for free in under 5 minutes that let’s your SIP Endpoint call the Public Telephone Network. If you don’t have one already you can sign up for a free Heroku account.
Click and deploy, that’s it.
3. Receiving calls on your registered SIP Endpoint
Create a TwiML Bin here with the following content,
Note: yourusername in the previous TwiML example MUST match one of the usernames specified in your Console’s SIP Registration Credential Lists.
Note that if you have multiple SIP Endpoints registered under the same AOR, so please register one AOR for each Phone/restaurant, then all devices will ring simultaneously. See Limits.
4. Configure Gigaset A540 IP
Detailed configurations are attached as screen shots.
Few things to highlight,
Under Connections, make sure Authentication name, Authentication password and Username is the same name with your credential configured in twilio.com; Select Network Protocol, select TCP only
Under Audio tap, leave G.711 u law and G.729 there
For Advanced VoIP Settings, choose DTMF as RFC 2833.
The details are attached here from the few screen shots.

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