You can use the following Python-only library to establish your ICE connection:
https://github.com/jlaine/aioice
Here is an example of two ICE endpoints in the same process. In real life you need some signaling method to exchange the candidates, username ("ufrag") and password ("pwd") between the two.
import asyncio
import aioice
async def connect_using_ice():
conn_a = aioice.Connection(ice_controlling=True)
conn_b = aioice.Connection(ice_controlling=False)
# invite
await conn_a.gather_candidates()
conn_b.remote_candidates = conn_a.local_candidates
conn_b.remote_username = conn_a.local_username
conn_b.remote_password = conn_a.local_password
# accept
await conn_b.gather_candidates()
conn_a.remote_candidates = conn_b.local_candidates
conn_a.remote_username = conn_b.local_username
conn_a.remote_password = conn_b.local_password
# connect
await asyncio.gather(conn_a.connect(), conn_b.connect())
# send data a -> b
await conn_a.send(b'howdee')
data = await conn_b.recv()
print('B got', data)
# send data b -> a
await conn_b.send(b'gotcha')
data = await conn_a.recv()
print('A got', data)
# close
await asyncio.gather(conn_a.close(), conn_b.close())
asyncio.get_event_loop().run_until_complete(connect_using_ice())