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Are there verbs that means "emitting a sound"?

I am not sure if there are slang verbs that allows you to say "emit a sound" in a shorter and more conversational way. A verb like that would be useful when you tell jokes or want to have some form of informal conversation. Is there any such word?

For example:

The guy started running with a pack of biscuits so that his dogs ___ "woof woof" in the backyward.