Audio is a more technical term, referring to sound coming from a recording, transmission or electronic device.

Sound is a more generic word and can be caused by any source.

So, if the beeping noise is coming from an electronic device, it could be considered audio, but usage is important. You would rarely refer to a specific, discrete noise as "audio". You could say:

They raise the audio for TV commercials.

But

I hear a beeping audio.

Sounds incorrect

I hear a beeping sound.

Would be better. Or:

I hear beeping in the audio transmission.

Or, depending on context, using audio as an adjective may be acceptable:

I hear audio beeping.

Answer from ghoppe on Stack Exchange
audio
/ô′dē-ō″/
noun
  1. Recorded or reproduced sound.
  2. Audible sound.
  3. A sound signal or recording.
from The American Heritage® Dictionary of the English Language, 5th Edition. More at Wordnik
🌐
Merriam-Webster
merriam-webster.com › dictionary › audio
AUDIO Definition & Meaning - Merriam-Webster
5 days ago - The meaning of AUDIO is of or relating to acoustic, mechanical, or electrical frequencies corresponding to normally audible sound waves which are of frequencies approximately from 15 to 20,000 hertz. How to use audio in a sentence.
Discussions

Sound meaning in JBL reflect flow?
A subreddit for information on JBL audio products such as Home Loudspeakers, Headphones, Car & Marine Audio, and Wireless. ... Maybe this sound is universal across other models. I hear this three tone sound from the left earphone for a few times now and would like to know what it means. More on reddit.com
🌐 r/JBL
5
June 27, 2018
Does more expensive audio interface mean better digital-analog converter?

I honestly would be surprised if anyone can actually hear the difference between several DAC's (unless they're doing something they shouldn't or they're really, really badly made).

There's also no reason at all even the crappiest interface can't have a decent converter, as they're incredible cheap. A good 8 channel 24bit 192khz converter costs under 5$ when bought by the thousands.

More on reddit.com
🌐 r/audioengineering
16
3
October 30, 2013
Do RCA cable colours mean anything? : audio
Yellow vs red vs white vs black vs orange? Thanks. More on old.reddit.com
🌐 r/audio
What does '8Ω compatible' mean? : audio
I'm about to setup some Mission QX-4 Mark IIs. On the Mission website, it states that the nominal impedance is 4Ω but has "8Ω compatible" in... More on old.reddit.com
🌐 r/audio
🌐
Cambridge Dictionary
dictionary.cambridge.org › us › dictionary › english › audio
AUDIO | definition in the Cambridge English Dictionary
AUDIO meaning: 1. connected with sound and the recording and broadcasting of sound: 2. a sound recording, or…. Learn more.
Find elsewhere
🌐
WordReference
wordreference.com › english dictionary › audio
audio - WordReference.com Dictionary of English
audio - WordReference English dictionary, questions, discussion and forums. All Free.
🌐
TechTarget
techtarget.com › whatis › definitions › A
Browse the Glossary - A - WhatIs
Amazon Transcribe - Amazon Transcribe is a speech recognition service that transcribes audio files into text.
🌐
Dictionary.com
dictionary.com › browse › audio
AUDIO Definition & Meaning | Dictionary.com
2 weeks ago - AUDIO definition: designating an electronic apparatus using audio frequencies. See examples of audio used in a sentence.
🌐
Reverso
dictionary.reverso.net › english-definition › audio
AUDIO - Definition & Meaning - Reverso English Dictionary
audio definition: related to sound recording or reproduction. Check meanings, examples, usage tips, pronunciation, domains, and related words. Discover expressions like "audio recording", "audio CD", "audio library".
🌐
Collins Dictionary
collinsdictionary.com › us › dictionary › english › audio
AUDIO definition in American English | Collins English Dictionary
6 senses: 1. of or relating to sound or hearing 2. relating to or employed in the transmission, reception, or reproduction of.... Click for more definitions.
Published   December 20, 2017
🌐
Vocabulary.com
vocabulary.com › dictionary › audio
Audio - Definition, Meaning & Synonyms | Vocabulary.com
Audio means sound. If you turn up the volume and turn down the bass on your TV, you adjust the audio.
🌐
Quora
quora.com › What-does-audio-mean
What does “audio “mean? - Quora
Answer (1 of 7): To a musician, audio is the true sound of his instrument. To an event technician, it’s the announcer’s voice coming through above the murmer of a crowd. To a student, it’s jogging a beat heard a few millimeters from her eardrums. To a cyclist, it’s background music ...
🌐
Ancestry
ancestry.com › first-name-meaning › audio
Audio : Meaning and Origin of First Name | Search Family History on Ancestry®.
Is your given name, Audio, a first in your family tree? Part of a cultural tradition? Ancestry® can tell you your first name’s origins plus its meaning.
🌐
Etymonline
etymonline.com › word › audio
Audio - Etymology, Origin & Meaning
"sound," especially recorded or transmitted sound signals, 1934, abstracted from… See origin and meaning of audio.