Here's an audio recording of the Q&A session with Penny Arcade at Sakuracon 2008
Edit: imeem doesn't seem to allow streaming the full content, even though it's original content. It assumes everything is copyrighted material. That sux. Anybody have any idea for a free audio streaming service, drop a comment. Youtube only allow 10 minutes max (this Q&A is an hour + long). I tried google video, but for some reason it failed.
2nd edit: imeem now apparently allows the full length to be streamed. Enjoy. :)