Free international text messaging from iPhone?

I'm looking for a way to keep in touch with my friends from Australia while I'm back home in the US, I've seen stuff about like AIM or Yahoo Messenger or something being able to send text messages to international numbers, but I don't know anything about it. I have an iPhone by the way, so if there was a good app for it, that would work too. And I need this to go to their actual cell phone number, they don't have a data plan or anything, but I do have data so I can get on the Internet anywhere anytime. Also they have virgin mobile if that changes anything. Also I want something to where they could text me without me like having to text them first or something like that.

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