General:
* Muttered
* Snorted
* Growled
* Whispered
* Said in a low voice
* Emitted
* Uttered
* Voiced
More specific:
* Coughing (if the sound is like a cough)
* Moaned (if the sound is pained or sad)
* Groaned (if the sound is of effort or displeasure)
* Hummed (if the sound is a low, continuous hum)
* Stuttered (if the sound is broken or hesitant)
Informal:
* Huffed
* Sniffed
* Pffted
* Gurgled
The best choice will depend on the specific situation and the desired level of formality.