Sound waves? no.
But it may be possible to detect gravity waves from a black hole. Here's one cool new experiment in this area...
http://antwrp.gsfc.nasa.gov/apod/ap001030.html

In general, sound cannot travel in space because sound is a compression wave through a medium (like air or water). Sound cannot travel through the vacuum of space. There are a few atoms here and there in space (it's not a perfect vacuum), but there is not enough of a medium for us to detect sound waves.

Inside the black hole is a bit of a mystery, scientifically speaking. In practical terms, nothing physical (like an ear, or a microphone)could survive entering a black hole without getting torn apart by the intense gravity.