The structural complexity of real-world pipeline networks makes it difficult to derive physics-based models of acoustic propagation. This work deals with the design of a communication system based on the propagation of acoustic waves in water-filled pipes. A method based on the experimental characterization of the communication channel is proposed. This approach is applied to an urban water distribution pipeline, and a black-box model representing its frequency response is obtained. The derived two-port model is used for the simulation of a complete communication system, comprising transmitter and receiver models, with the aim of using the water pipe as a wireless communication channel. It is shown that the choice of modulation parameters is critical in order to deal with issues such as the frequency selectivity of the channel and multipath wave propagation. A communication system is presented and the experimental results of the communicated data are provided.