Step 1
Create a Style (in <Window1.Resources>) for rectangles as the Grip area around the window:
<Style x:Key="RectBorderStyle" TargetType="Rectangle">
    <Setter Property="Focusable" Value="False" />
    <Setter Property="Fill" Value="Transparent" />
    <Setter Property="Tag" Value="{Binding RelativeSource={RelativeSource AncestorType=Window}}" />
    <EventSetter Event="MouseLeftButtonDown" Handler="Resize_Init"/>
    <EventSetter Event="MouseLeftButtonUp" Handler="Resize_End"/>
    <EventSetter Event="MouseMove" Handler="Resizeing_Form"/>
</Style>
Step 2
Add these styled rectangles to your window. (You can add them inside a simple grid within your window)
<Rectangle x:Name="leftSizeGrip"
    Width="7"
    HorizontalAlignment="Left"
    Cursor="SizeWE"
    Style="{StaticResource RectBorderStyle}" />
<Rectangle x:Name="rightSizeGrip"
    Width="7"
    HorizontalAlignment="Right"
    Cursor="SizeWE"
    Style="{StaticResource RectBorderStyle}" />
<Rectangle x:Name="topSizeGrip"
    Height="7"
    VerticalAlignment="Top"
    Cursor="SizeNS"
    Style="{StaticResource RectBorderStyle}" />
<Rectangle x:Name="bottomSizeGrip"
    Height="7"
    VerticalAlignment="Bottom"
    Cursor="SizeNS"
    Style="{StaticResource RectBorderStyle}" />
<!--  Corners  -->
<Rectangle Name="topLeftSizeGrip"
    Width="7"
    Height="7"
    HorizontalAlignment="Left"
    VerticalAlignment="Top"
    Cursor="SizeNWSE"
    Style="{StaticResource RectBorderStyle}" />
<Rectangle Name="bottomRightSizeGrip"
    Width="7"
    Height="7"
    HorizontalAlignment="Right"
    VerticalAlignment="Bottom"
    Cursor="SizeNWSE"
    Style="{StaticResource RectBorderStyle}" />
<Rectangle Name="topRightSizeGrip"
    Width="7"
    Height="7"
    HorizontalAlignment="Right"
    VerticalAlignment="Top"
    Cursor="SizeNESW"
    Style="{StaticResource RectBorderStyle}" />
<Rectangle Name="bottomLeftSizeGrip"
    Width="7"
    Height="7"
    HorizontalAlignment="Left"
    VerticalAlignment="Bottom"
    Cursor="SizeNESW"
    Style="{StaticResource RectBorderStyle}" />
Step 3
Add these codes to the code behind of your window (window1.xaml.cs) (or to MyStyle.xaml.cs if you are using a template for window and you have added the 8 rectangles inside the template)
#region ResizeWindows
bool ResizeInProcess = false;
private void Resize_Init(object sender, MouseButtonEventArgs e)
{
    Rectangle senderRect = sender as Rectangle;
    if (senderRect != null)
    {
        ResizeInProcess = true;
        senderRect.CaptureMouse();
    }
}
private void Resize_End(object sender, MouseButtonEventArgs e)
{
    Rectangle senderRect = sender as Rectangle;
    if (senderRect != null)
    {
        ResizeInProcess = false; ;
        senderRect.ReleaseMouseCapture();
    }
}
private void Resizeing_Form(object sender, MouseEventArgs e)
{
    if (ResizeInProcess)
    {
        Rectangle senderRect = sender as Rectangle;
        Window mainWindow = senderRect.Tag as Window;
        if (senderRect != null)
        {
            double width = e.GetPosition(mainWindow).X;
            double height = e.GetPosition(mainWindow).Y;
            senderRect.CaptureMouse();
            if (senderRect.Name.ToLower().Contains("right"))
            {
                width += 5;
                if (width > 0)
                    mainWindow.Width = width;
            }
            if (senderRect.Name.ToLower().Contains("left"))
            {
                width -= 5;
                mainWindow.Left += width;
                width = mainWindow.Width - width;
                if (width > 0)
                {
                    mainWindow.Width = width;
                }
            }
            if (senderRect.Name.ToLower().Contains("bottom"))
            {
                height += 5;
                if (height > 0)
                    mainWindow.Height = height;
            }
            if (senderRect.Name.ToLower().Contains("top"))
            {
                height -= 5;
                mainWindow.Top += height;
                height = mainWindow.Height - height;
                if (height > 0)
                {
                    mainWindow.Height = height;
                }
            }
        }
    }
}
#endregion
Step 4
Press F5 and enjoy!
note:
these 8 rectangles are transparent. if you can't make it properly work, just change the Fill value of the style to Red to see where are they positioned.
Another note:
When maximized you might want to disable all these rectangles. well the easiest way is to handle the WindowStateChanged event and disable the grid containing them.