There are two filter syntaxes, the capture filter syntax, also known as BPF filters, which is a high performance filter that limits which packets are captured but concentrates on Layer 1-3 filtering and display filters which can operate on any field in any protocol that Wireshark knows about but require full dissection so are lower performing.
The display filter syntax is described here:
https://www.wireshark.org/docs/man-pages/wireshark-filter.html, and it uses the -Y flag. The display filter syntax can also be used as a "Read" filter to limit the packets read from a capture (and can't be used on a live capture) with the -r flag (which also requires the -2 flag).
"sip" isn't part of the display filter syntax so that's why you get the error, also note that capture filters don't use "==". If you use "-f 'udp port 5060' " then that will limit the capture to that UDP port, and hopefully no other protocols will be using it.