There are a ridiculous number of messaging apps that allow you to do this. You and the person you want to send to would obviously both be required to have the app.
When I say ridiculous number of messaging apps, I'm not exaggerating. There are so many ways to chat, send pictures, videos and other things through so many different messaging apps it's insanely easy.
To get you start: »
play.google.com/store/se ··· s&c=apps