듣다 is a ㄷ irregular verb. If a verb is a ㄷ irregular verb, the ㄷ changes to ㄹ when followed by a vowel. like 듣다 -> 들어요.
So, 들을까요? is correct.
Differentiating ㄷ irregular verbs is very tricky.
It depends on both spelling and meaning at the same time.
Here is a list of ㄷ irregular verbs.
걷다(to walk)
깨닫다(to perceive)
닫다(to run fast)(rarely used) *** 닫다(to close) is a regular verb.
듣다(to listen)
묻다(to ask) *** 묻다(to bury) is a regular verb
붇다(to swell)
싣다(to load)
알아듣다(to understand)
치닫다(to rush up)
캐묻다(to interrogate)