https://docs.microsoft.com/en-us/windows/uwp/devices-sensors...
This uses mDNS under the hood and works pretty well now. The basics is that you create a device watcher and set it up to look for devices of a specific kind. In this case, you're looking for network-based devices with a specific service type.
It's however somewhat of a pain to get running as there's a lot of details you need to know / figure out before you can get running.