Sonic
Sonic means to do with sound.
A sonic waveform is therefore one that repeats at a frequency you can hear. The lowest frequency you can hear probably repeats about 20 times a second, known as 20 Hz. The highest is probably closer to about 20,000 times a second, or 20 kHz. This depends on how good your hearing is.
In the context of synthesis, sonic waveforms can be made using oscillators.
Contrast with infrasonic frequencies, below about 20 Hz, and ultrasonic frequencies, above about 20 kHz.
Frequency ranges: Infrasonic | Sonic | Ultrasonic