The name is a bit of a pun on Microsoft's Plug&Play.
Plug&Play means you plug a device into a computer and it works without any interference from the user.
UPnP does the same but this time over the network.
UPnP devices auto-discover each other and exchange there capabilities.
Although not limited to streaming AV, in practice streaming audio and video is where UPnP is about.
Source: http://www.upnp.org/
Today UPnP has become part of OCF.
Of course UPnP has its own nomenclature:
Server: streams the music to UPnP clients in the network,
Renderer: a device with can play the music received
from the server
Control Point: the remote control.
If you are looking for a UPnP server:
Note: I wrote above lines in 2009.
Today (2013) the situation is much better.
Reliability has strongly improved.
There are many media streamers supporting UPnP/DLNA.
UPnP is incorporated in DLNA.
Today you can also access your media at home over the internet using UPnP.
Unfortunately it is a security risk as you have to open ports in your router.
XP is UPnP compliant.
XP can be used as a server only,
Vista can be both a server and a client (renderer/control point).
If you enable media sharing in Vista (an option in Windows Media Player) the PC becomes visible as a media player in the network.
Win7 and higher is fully UPnP/DLNA compliant.
OSX doesn't support UPnP, Apple of course has its own proprietary protocol; Airplay
You need third party UPnP software on OSX
There are UPnP/DLNA compliant media players for Android.
This allows you to use your smart phone as a remote control for your media player.
A couple of examples can be found here.