Nope, iMessage is an iOS app only. Don't trust any app in the app store that claims to give this functionality because it's most likely fake and/or filled with crap.
There are some themes that simulate the look of iMessage.
Also, I just recently switched from an iPhone to a S4, and have grown accustomed to Google Hangouts. It is nice as you can use it from your PC and pick up the conversation from any mobile device.
I switch between my iPad Mini --> S4 --> Windows 8 PC all the time.
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