Hi Kelly,
This is a pretty simple setup and you should be able to achieve it without much trouble. Your RingRoost PBX should be setup like so.
1) 1 answer call control
2) 3 SIP phone each with it's own extension. We will use 1,2,3.
3) Connect the answer call control to all three sip phones, when a call comes in all 3 phones will ring. Whoever answers first will then "win" the call. They may then transfer the call by pressing the transfer button on your phone and then the extension number (1,2 or 3 here).
As far as ringing only one extension when an external call comes in. You can either get a dedicated phone number for each extension and directly connect a answer call control to that SIP phone or you can use the "Menu" control and promt the user to enter the extension they would like to reach.
For caller id, you can set the caller id on the SIP phone to whatever number you want as long as the number is assigned to your ringroost account.
Here is a picture of how you probably want to setup your system.