Google Messages (RCS app) does that. It even works from iMessage to Android but that is just because Google parses the SMS text that says they reacted that iMessage passive-aggressively sends and makes it appear correctly. It’s not following RCS protocol, it’s basic text parsing is all.
Incidentally, Google also started sending the same pass-aggressive reacted SMS messages to iPhone users for those using those RCS features, so now Apple gets the messages Android users had to deal with for years (and still do, if they aren’t using Messages). I don’t know is Apple is doing the same parsing or not as Google, if they aren’t then somewhat ironically to Apple’s intention Android now has the better react experience.