foss338 but using it until someone suggests a better workaround.
I was using BhimUPI untill it started crashing out. I did not want to use an outdated app for banking related things so I looked for other options. For now (at least 2.5-3 months), I am happy using YONO SBI. IDK if it will work with your ICICI bank account, its UI and animations are really poor but it gets it done when it comes to making payments via UPI, even payments to beneficiary added via online banking. I was even able to put that app in private space and works fine. It also allows you to check for your bank statements, change online banking creds, if in case you need them frequently. But again, I am using it with SBI accounts and I dont have ICICI account to tell if it will work for you or not. You can try it out.
Might be helpful for someone, if you are stuck at registeration page wehn adding your bank account, make sure play services app has internet and SMS reading permission. After registeration, you can revoke all permission, in fact you can even delete playstore and play services app and you will still able to do payments. But remember, after each 30 days (I think, I am not sure about the duration), QR code scanner stops working. To fix it, give play store internet permission, reboot and try the QR code scanner. It should work again, if doesnt, clear app cache. After confirming it is working again, you can again revoke all permissions.
Edit : I just logged out of my SBI account from YONO SBI to check if its UPI services work with other banks' accounts or not. And, I can confirm that the app gives you option to choose other banks, both ICICI and Axis are also listed. I did not check them completely as I dont have accounts with either of them.