The singer, who was previously named the best-selling R&B artist of the past 25 years, has teamed up with Concerts Cruise to launch his 'Love Letter Cruise', named after his 2010 album.
The ship will depart from Miami and dock in Grand Turk, and Half Moon Cay and Nassau in the Bahamas.
R Kelly shared the news on his Twitter: "Come aboard and join me as I sail away on my first annual Love Letter Cruise."
Prices for the cruise depend on which cabins guests want to purchase, with prices ranging from $999 (£646) to $2,999 (£1,940).
The 'Love Letter Cruise' will be held from October 1 to October 5, 2012.
In September, R Kelly revealed that his upcoming album will be called Black Panties.
Watch the first part of R Kelly's Love Letter: The Documentary below (US only):