Yep, in the episode "Hell Is Other Robots" from season one he says this before they are going to eat, since he went religious he says grace. He then ends the binary code with 2. As seen here http://www.megavideo.com/?v=SEZ7EM3A (11:20 in).
Edit: I took the liberty of ripping the audio from the Futurama DVD from this particular episode: http://www.mediafire.com/?3mq8ph98o43ec63 (it's an ac3 file)