I've been happy with Doubletwist (from the Google Play Store). The basic app is free.
The app includes a player, but I've been just as happy using the Android player after syncing with Double Twist.
You do have to download a program to your PC from Doubletwist, to provide the PC portion (I don't know if a version is available for Macs). Doubletwist then syncs its own library with iTunes.
The sync requires a cable connection between the phone and the PC, unless you spend a little for Airtwist which syncs via WiFi, and is fairly slow - I have Airsync, but I use the cable.

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