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>Maybe something like a soft object that when a few moments after it is released makes a squeak sound.

Could use some kind of heat or capacitive touch sensor to detect when it's no longer in contact with your hand. Or I guess the KISS version of that would just be to use some sort of physical switch to detect when the object hits the floor. I could totally see there being a market for something like this!

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I spent a bit of time trying to do it with flex sensors. Strap one to your hand, make a fist, take your nap, detect when muscle tone is lost and it unbends. I ran out of interest before I got it to work but I still think it's viable. Probably smart to build the flex sensor into a glove for ease of use, and you could put the microcontroller on there too.

https://core-electronics.com.au/flex-sensor-2-2.html

You could also buy one of those two-piece door sensors that sound an alarm when you separate them. Tie one to your hand (or glue it onto a special sleeping glove), and hold the other piece.

Only potential problem is that you might get a heart attack considering how loud those things can be.

I think these are just hall effect sensors and you can find Arduino compatible ones

Make it and give me one. I'm working on a spelling bee.

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