People forget that part of the point of different colors for iMessage vs SMS was to indicate that iMessage is encrypted and SMS isn't. It's also a handy marketing thing, but there is a technical justification for making a visible distinction.
AirMessage is basically a proxy that strips encryption for Android devices:
"AirMessage leverages the power of your Mac computer in order to route messages to and from Apple's iMessage servers. The server is to be installed on a computer at home, and will pass messages to and from your smartphone to allow the usage of iMessage and other installed services."
I would imagine that the AirMessage Android app is actually in communication with the AirMessage server on your Mac. It uses some automation (perhaps via something like https://github.com/shusain93/OSXMessageProxy) to talk the the Messages app. The connection is encrypted from there to the other side, as if you were sitting in front of your Mac. This happens in reverse the other way.
Hacky, and now you own the weak links in the E2E encryption chain. But a neat workaround, in a pinch.
https://airmessage.org/