This is an extended comment to address what I believe is an important distinction to make - the distinction between a balanced output and a differential output.
According to the link provided by Phil Frost, we have:
A good, accurate definition is "A balanced circuit is a two-conductor
circuit in which both conductors and all circuits connected to them
have the same impedance with respect to ground and to all other
conductors...
Thus, this would be an example of a balanced output:
simulate this circuit – Schematic created using CircuitLab
Though the output is balanced according to the above definition, it is not differential.
For the output to be differential, we must have \$V^+_{out} = -V^-_{out}\$
But, for the circuit above, we have (for open circuit condition) \$V^+_{out} = V_{oc} \$, and \$V^-_{out} = 0\$
This is an example of a differential output:
simulate this circuit
Note that this is not a balanced output since the impedance to ground for the positive output node is \$600\Omega\$ while the impedance to ground for the negative output node is \$0\Omega\$.
However, for both circuits, the open circuit output voltage is \$V^+_{out} - V^-_{out} = V_{oc}\$ and the output impedance is \$600\Omega\$.
Finally, an example of a balanced and differential output:
simulate this circuit
As to the OP's question:
is there any way to convert single ended audio signal to differential
one
The answer is yes, of course there is and certainly, as Anido Ghosh answers, a 1:1 audio transformer will give you both a balanced and differential output as well as isolation which may or may not be useful.
As other answers have pointed out, you can can also convert to differential only or balanced only.
Whether you actually need both, one or the other, or neither is a matter for experiment to decide.