Not sure if there's an app for it.
But checking if they have iMessage (just by opening the messages app and putting their names in the recipients box, the chat box where you enter your message should turn blue) would probably be more accurate and quicker than trying to do FaceTime with all of them.
Unfortunately, I've not heard of an app that will categorize contacts in that way.
However, if I know someone has an iPhone, when I take their number down I mark it under "iPhone". When you're editing a contact, you can press "Mobile" next to the number to select a category for that number (Eg. Mobile, iPhone, Home, Work etc.).
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