Formal:
* Je vais bien, c'est agréable de vous entendre. (This is the most formal and polite option.)
Informal:
* Je vais bien, ça fait plaisir de te/vous entendre. (This is more informal and can be used with friends and family.)
* Ça va bien, c'est sympa de te/vous entendre. (This is a very casual way of saying it.)
You can replace "te" with "vous" for a more formal address.
It's also common to add a phrase like "Comment vas-tu/allez-vous?" (How are you?) after these phrases to show that you're interested in how the other person is doing.