Hi,
you are on the right track. Mediaproxy-ng/rtpengine does the conversion of SDP profiles for you, so basically, you will only need to flag the call with the right parameters and rtpengine will do the rest.
Check out the webrtc example that comes with Kamailio, or my example [1]. You can use this as a starting point to understand how rptengine does the translations.
And in regards of TLS, check out the tls module documentation, but in summary, you can choose to encrypt communication in one socket, and maintain clear UDP/TCP in another. Kamailio will handle the routing among the two.
Regards,
Carlos