Go to settings, general management, language and input, On-screen keyboard, Google voice typing....then toggle off Block offensive words. Also while you are there I went to Samsung voice input and Toggled off Block Offensive Words there too just for good measure I wanna be able to curse everywhere on my phone!!!
I have an S7 Edge updated to the most recent update and I don't see the option in the way that you're describing it if I could send pictures on this post I would show you I'm on nougat