I plan to develop Android application which will encrypt/decrypt voice data such that parties can communicate using secure channel. So the question is: how to intercept voice/au
This is something that happens in the low level of the operating system. You wouldn't be able to access this information in the application level.
I suggest that you look into VOIP like SipDroid. I bet you'll be able to set it up to use encryption easily. (srtp instead of rtp)
Even if you SipDroid doesn't support this, it's is open source so you could add this feature.