When the charging cable is connected to the Samsung device and the charging process is started/ended, the charging sound is heard, which can be switched on or off in the settings under System sounds. The sound itself cannot be changed.

Android 10 (One UI 2.0)
Step 1:  Open the  Settings
Step 2:  Tap on  Sounds and vibration
Step 3:  Tap on  System sound
Step 4:  Enable or disable  Charging
  1. Open the Settings
  2. Tap on Sounds and vibration
  3. Tap on System sound
  4. Enable or disable Charging

Samsung Instructions