Adding a beneficiary for IMPS is similar to adding the payee online for NEFT & RTGS. You can add the payee if you are doing a transfer with IFSC code. Follow the below steps for adding a payee:
Login to your Internet Banking account> select the option 'Payment & Transfer> fund transfer> An account in other bank through NEFT, RTGS or IMPS with IFSC code> select this option for adding a payee
OR
You can transfer with the 7-digit MMID and the 10-digit mobile number of the beneficiary. There is no pre-registration required for the beneficiary.
Also customer can add payee through Imobile as well. Customer has to follow below step for adding payee Login to Imobile>fund transfer>Outside ICICI bank>IMPS>Add new Payee