As has been discussed on many forums since the start of the internet, all modern ESCs operate by switching on and off rapidly. The ratio of "on" to "off" determines the power offered to the motor, the wider the pulse, the more power.. Some ESCs have a very high switching rate, so high that human ears don't hear them, some operate at a lower frequency, and you do. As you move the throttle, power is applied, until there is enough power to actually move the motor, it will buzz, or hum, depending. Once everything is moving, the loudspeaker effect diminishes with the increase in mechanical noise, and, hopefully, distance.