Depends on the pump, but yeah there's a distinct sound of the air being forced out of the tank as you fill it up. It's a good sound, because the alternative is fuel splashing on the side of the truck!
Best practice: Fill up at moderate speeds. Don't push the pump all the way in super air-tight. Enjoy the scenery and listen to the whistling. Mine tells me when the tank is almost full. Like playing a beer bottle with your lips.