Committee hearings are available LIVE via audio at the time of the meeting, and also posted for replay within a few hours after completion (select the link for the hearing to access the replay). 

Opening statements of witnesses are posted during the hearing.  However, the entire transcript of questions and answers is not available until posted by the Gov't Printing Office -- according to Senate Rules. 
For previous years' hearings, please review the listing of Archived Hearings .