Once the dog has understood that "making a noise" earns a reward:
Anticipating the sound
Say "Speak!" (or "Talk", "Bark") just before they are about to yelp. Timing is crucial for building the association.
Adding a gesture
Pair it with a hand signal (such as a hand that opens and closes, imitating a mouth). The visual signal reinforces learning.
Praise and reward
As soon as they respond to the signal, say "Speak!" and give the reward immediately.
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Tip: A very clear hand signal helps the dog tell this cue apart from the others, especially when excited.