Some human utterances include the following.
whisper
murmur
grumble
Words for these sounds are often onomatopoeia, from the Greek for "
name" and "
make". That is, the words sound like what they describe.
How about the following words: lisp, fluster, gulp, splat, bam, etc.
In the 1960's TV show Batman and Robin, many action scenes had the words for the sounds without actually showing what might have been considered violence.
We now need some audience participation.