Its not automatic but you can do it with [bold]Audacity[/bold[. Link(s): http://forums.afterdawn.com/thread_view.cfm/127334
Do you actualy whan to put a bleep? With Audacity you can just edit the words out. Its as simple as "Highlight" - "Cut".
I'm not sure if you could accomplish this. Because, what you are asking to do is to cut out the vocals only(Not the music) then fill in the vocals part with a bleep. It sounds like you want to keep the music, correct? With a editing program you can cut out a part of a song, but that means vocals & music. Even if you overlayed a section of a song with a bleep you would have to go through every song slowly to find every bad word & then insert an overlay. A daunting task to say the least!!
I think you may be able to do such a think with [bold]KRISTAL[/bold]. You would have to have a beep to use in a different track (you know like Bleep.WAV). You could paste the sound in the spots on the corresponding track that you wish to bleep-out.
With Audacity you can select the curse word part (manually) and replace it with silence. Cut, delete probably does the same thing though, I'd assume. Copy and paste a bleep sound audio file.