Now, I know MiFare is a company which makes NFC chips.
That's not quite true. MiFare is an NFC technology standard that many NFC products are based on. Today, the MiFare tech is pretty much wholly owned by NXP Semiconductor (which IS a company that makes NFC chips and smart cards
The standards used in the NXP MiFare series of products is pretty much completely supported by Android devices, as evidenced by the two applications they have in Google Play for reading and programming tag elements: