technically impossible.
The process of sweeping private keys involves a transaction in the blockchain.
I think what you meant was "importing" private keys.
But all in all, one time exposure of your paper wallet's private key means that you intended to spend its balance,
so there is no need for such security measure unless the wallet you're using is unsecured too.
OP said that he wants to automatically sweep it as soon as he goes online, while having all the data encrypted, and I think the following program should work.
First, we need a digital camera to take a photo of QR code, then you connect it via USB to an offline machine, and decode the QR code from a photo to get the private key. Then you insert the address you want to sweep to, and the app creates a signed transaction with paper wallet's address as an input. Then you can transfer this signed transaction via USB or by scanning it's QR code on your phone, check that it is correct by some other software (Core, Electrum, etc.) and broadcast it.
But I'm not sure if this app is needed - it can be useful if someone is dealing with huge amounts of paper wallets, but if it's one-time only, then it's not a problem to do everything I've described step-by-step. Maybe it can be implemented as a feature in some wallet that already has a good cold storage functionality, like Electrum or Armory.