At Twilio, we have APIs for two factor authentication and we recommend implementing via push notification to the Authy app with “approve” and “deny” buttons. This is more secure and a better experience than SMS. The API also allows for regular app based 2FA, with a TOTP code, which is more secure than SMS. But it also allows you to fallback to SMS, which is still more secure than no 2FA.
You do have to consider the threat model for your own application when considering these sort of security measures. If the value of an account takeover is high then a targeted attack can, and will, break SMS 2FA. Which is why the Twilio 2FA API allows you to turn off SMS 2FA if you choose.
Ultimately I’d prefer SMS over nothing when it comes to 2FA, but I also encourage developers to use more secure options that can also have a better experience.