The beeps are intentional and are inserted by the shows animators before broadcast. The only way to hear the episodes unbleeped is to get them on DVD.
While I know it's the broadcast versions that get bleeped, given that the DVDs aren't, how is it "intentional"?
Answer is - it's not. Fox are notorious for bleeping out such language. That's why Ramsay's shows are bleeped in the US but unbleeped over here (BBC3 just can't be bothered to obtain an unbleeped version, but then let's face it they can't be bothered to run a proper TV station either)