Yes, you can substitute the hold music for a beeping noise instead. This can be done at the system level to set a default for all accounts. You can also modify the setting at the account level.
System-Level Setting
To update the setting at the system level, navigate to Configuration -> Company -> Calls and scroll to the bottom of the page. Here you will see the setting 'IVR Searching for Interpreter Sound.' Click on the 'Edit' button next to the setting.
In the resulting pop-up, indicate which tone you would like to set as the default at the system level. Then click Save.
Account-Level Setting
To update the setting at the account level, navigate to the Members >Accounts page and click into the account you want to update.
Navigate to the Routing tab of the account viewer and click on the indicated Edit button:
You can edit the IVR Searching for Interpreter Sound setting at the bottom of the page. Once you have completed your selection, click 'Save Changes'.