For instance, when a spoon or ice cube hits a glass of water
The word for that sound would likely be onomatopoeic like...
Ping Tinkle Clink Ding
Definition of Onomatopoeia
Onomatopoeia is the formation of a word from a sound associated with what is named (e.g., cuckoo, sizzle). However the word Onomatopoeia can also be used to describe the use of such words for rhetorical effect. For example, in the sentence 'The poet Tennyson used onomatopoeia as a linguistic device'.