Put this into your game's JavaScript.
$('#ui-bar-toggle').on('click', function () { $.wiki(`<<audio "toggle_ui_bar" play>>`); })
Don't forget to cache your audio file as per SugarCube docs.
If you want to provide "Mute" button for player, I think it's more easily achieved using <<masteraudio>> macro.
Or something like this:
$('#ui-bar-toggle').on('click', function () { $.wiki('<<if $myVariable eq 1>><<audio "toggle_ui_bar" play>><</if>>'); })