There are lots of them on YouTube now. I listen to one most nights. Just search for “sleep” and “binaural beats.
Based on my limited knowledge the sound frequencies attempt to put the brain into theta or delta frequencies and does this by creating a ghost signal (left ear 100hz - right 106hz gives a 6hz theta wave).
Dreamachines work similarly (but mono) by creating a flickering light at set frequencies.
I'm sure tactile vibrations or pulses could have some effect also.