BubbleUPnP UPnP/DLNA seems to be most popular UPnP/DLNA server and client for Android. It can both serve the content on your Android device to your home network or receive media streams from a UPnP/DLNA server on your home network.
I used it as a UPnP/DLNA client to receive music and videos from a MiniDLNA server on the home network. The videos play fine through an external player. Music files in a folder can be added to a playlist for ordered or shuffled play. However, in the free version only 16 music files can be played back in this way. That is a big disadvantage if you are not willing to pay for this app.
Tried with: BubbleUPnP UPnP/DLNA 2.3, Android 5.0.2 and Nexus 7 (2013)