In the app data transfer (String format) takes place via NFC. In this case a device acts as sender and another one as receiver. Whenever I tap the device to another one, "Touch to beam" option comes. Can I avoid that screen? Is it possible to send data via NFC by avoiding "Touch to beam" option.
Yes you can send data via NFC directly from your App with Android Beam https://developer.android.com/reference/android/nfc/NfcAdapter.html#setNdefPushMessageCallback(android.nfc.NfcAdapter.CreateNdefMessageCallback,%20android.app.Activity,%20android.app.Activity...)
BUT this is unsustainable as this method has been deprecated (As has the whole of Android Beam)
You could do Host Card Emulation instead on the sender https://developer.android.com/guide/topics/connectivity/nfc/hce but that is very complicated
Better to use Bluetooth or Wifi Direct/P2P