In normal cases, iMessage cannot work on Android because of the difference in interface. Apple has special end-to-end encryption that secures the messages between the sender and receiver device. So only devices that can decrypt the messages are able to use the iMessage app and they are Apple devices. But there are some apps known as iOS launchers for Android, which can make iPhone apps work on Android devices.
Some apps that can enable iMessage to be compatible with your Android are:
One Launcher
Phone X Launcher
WeMessage (for iMessage only)
So download these apps to experience iPhone like features on your Android device.