osascript

• osascript -e 'display notification "Lorem ipsum dolor sit amet" with title "Title"'
• osascript -e 'beep 1' or tput bel or say TEST

See also

• iTerm2
• tput bel
• growl
• osascript, terminal-notifier
• Sound notifications: tput bel, paplay, echo -e '\a', printf '\7', osascript -e 'beep 1', afplay, ping -a, say, ntfy.sh, bip (alias)