Not to toot my own horn too much, but might I recommend trying IcedJava. (It's a part of the SipTools project) It's actively being developed, has a stable release 0.9 version, and supports use cases like RTP streaming out of the box.
As far as TCP support, that's slated for a later release, but you're going to have a hard time supporting TCP over symmetric nat due to the three way handshake being blocked. Even the TCP extensions to the ICE specification note that TCP connections are much less likely to succeed than UDP connections between natted peers.
That said, you can workaround this by routing TCP packets over a UDP bridge, including all of the error correction and flow control features. (I forget the RFC for this, but it is a final specification) Still, all of these are relatively new specifications, and the ICE-TCP spec is not yet final. Even in active development, these will take time to implement.