I'm after the same sort of functionality for Microsoft Office Communicator. After a bit of investigation I found that the following URI syntax will initiate a (VoIP) phone call via communicator:
It basically says use tel: as the prefix, and start the number with +[international dialling code] before the number itself. You can put non-numeric characters as separators (e.g. -) but they must be ignored. So a London (UK) number might be: