Roc for Android is an app implementing Roc sender and receiver. Roc features real-time streaming with guaranteed latency, restoring lost packets using Forward Erasure Correction codes, CD-quality audio and much more. Compatible senders and receivers include:

PulseAudio modules
command-line tools available for multiple operating systems
Features:

receive sound from remote Roc-compatible sender and play to local audio device
record sound from local audio device and send to remote Roc-compatible