Nouns

(n)mutter, muttering, murmur, murmuring, murmuration, mussitationa low continuous indistinct sound; often accompanied by movement of the lips without the production of articulate speech
(n)grumble, grumbling, murmur, murmuring, mutter, mutteringa complaint uttered in a low and indistinct tone

Verbs

(v)mumble, mutter, maunder, mussitatetalk indistinctly; usually in a low voice
(v)murmur, mutter, grumble, croak, gnarlmake complaining remarks or noises under one's breath“she grumbles when she feels overworked”