murmur: to say something in a soft quiet voice that is difficult to hear or understand

He murmured something in his sleep.

She was murmuring in his ear.

sigh: to take and then let out a long deep breath that can be heard, to show that you are disappointed, sad, tired, etc.

He sighed deeply at the thought.

murmur: to speak or say something in a quiet voice in a way that is not clear

synonym – mutter

gasp: to take a quick deep breath with your mouth open, especially because you are surprised or in pain

They gasped in astonishment at the news.

snickers – n. – titter, giggle

v. - to laugh in a quiet unpleasant way, especially at something rude or at somebody’s problems or mistakes

thud: - a sound like the one that is made when a heavy object hits something else

His head hit the floor with a dull thud.

The boot made a dull thud as it hit the ground.

groan: - to make a long deep sound because you are annoyed, upset or in pain, or with pleasure

synonym -  moan

groan with:  phrasal verb - to be full of something

tables groaning with food

rattle: to make a series of short loud sounds when shaking or hitting against something hard; to make something do this

Every time a bus went past, the windows rattled.

He shook me so hard that my teeth rattled.

roar - to make a very loud, deep sound

The man roared in pain and fury as he tried to get to his feet.

Idioms - roar to victory/ romp to victory/, sweep to victory

​to win something easily

He roared to victory in the final of the championship.

whisper: to speak very quietly to somebody so that other people cannot hear what you are saying

synonym -  murmur

‘Let's go,' she whispered to Anne.