I found a solution:
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From what I gather so far, Twilio API seem to only work with form-data.
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To use form-data in Http Request activity, you can write your parameters under application/x-www-form-urlencoded data format.
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Solution: Remove all parameters/headers for To, From, Body in Http Request.
Under Input:
AcceptedFormat=Any
Under Options:
Body =“From=+12345678901&To=+123445678902&Body=”“Testing”“”
BodyFormat=application/x-www-form-urlencoded
Remember to add basic/simple authentication in your activity too.
Hope that helps.