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I think I found the definitive voice recorder for recording tasks for the android.
It is a part of "Google Voice Actions". It allows you to send a text email to your google account by simply speaking what you want. If you open it up, and say, for example, "Memo to self pick up bananas and oranges at the store", it will create an email on your google account with the text, along with an audio file.
I then simply take the email it creates, edit it, and send it to Remember the Milk, where it becomes a task.
Here is a link, which includes the QR code for installing it, if you have an older phone. Mine came with it installed.