Green’s Dictionary of Slang

bleep n.

[the electronic ‘bleeping’ out of supposed obscenities on radio and TV]

a euph. substitute for various taboo terms, e.g. shit n. (1a) in phr. beat the bleep out of; also as v.

[US]Look 10 Mar. 58: Anybody [on the team] who talked to a reporter could go on Durocher’s bleep list.
[US]B. Hamper Rivethead (1992) 95: [Bleep] ’em! Maybe I don’t know apples from oranges, but I can assure you I know my way around a rivet gun.
[UK]Reuters 28 Oct. n.p.: The device has even surfaced in ads, with a boy and girl exchanging censored epithets (‘mother-bleep,’ ‘bleep-you,’ ‘bleep-hole,’ etc.) in a soap commercial aired in January.
[Aus]N. Cummins Tales of the Honey Badger [ebook] He commanded everyone [...] to get the bleep out of his way.