I started a robotics project recently and had the same question. After a week of researching and coming up short, I ended up creating my own bluetooth proto cape using a DF-Bluetooth V3 module.
* DF-Bluetooth V3 Modulehttp://www.dfrobot.com/wiki/index.php?t ... TEL0026%29
* Adafruit Proto Cape Kit for Beagle Bonehttp://www.adafruit.com/products/572
Hooking up the bluetooth module to the Beaglebone uart (uart 1 in my case) was straight forward. GND, VCC and 3.3V from the module to the Beaglebone's GND, 5V and 3.3V lines. The TX and RX signals from the DF-Bluetooth V3 module connected to the RX and TX of the uart (i.e. TX->RX and RX->TX). I decided to solder on a socket that the module would connect into so that I could easily replace the module if it got damaged.
If you're not comfortable with a soldering iron, this may be a challenge but it's not impossible. There are only 6 connections to make to hook up the module aside from the headers to solder to P8 and P9 of the proto cape.
Here's a link to a video where I demo the RocketBot controller app on my smart phone and sending commands via bluetooth to the Beaglebone.
Demo using the RocketBot Controller app...http://www.dailymotion.com/video/xyl9r3 ... 31713_tech
Hope this helps.