Sirius/XM has released an Android application which allows you to listen to the satellite radio stations on your phone. Once I downloaded the application, I was able to play all of the Sirius/XM station, over wifi and 3G.
Unfortunately, they decided not to put the application in the Android Market, but you have to download it manually. This will mean that updates to the application will not be automatically shown to the user, when they become available. Also, if you have to restore your phone, this application will not be automatically reinstalled.
The other problem that I have had with the application is that when the application loses the connection, it plays the data in the buffer, and continues to loop that audio.
I will probably pay for the premium streaming, once the free trial ends, as I like listening to this content at work.