You will really need to decide for yourself a lot more specifically what you need.
Your question is like saying I want to make a picture, should I buy paint or paper or pens or canvas, etc.
The field of what is out there and what you can do with it is immense.
You can buy the motor control board and make noice by the sound of motor vibrations at different speeds for example, or you can connect a piezo element directly to an output and vibrate it directly with a squarewave at various frequencies. It's really limitless.