Yes, sound waves can generate heat. In fact, sound waves almost always generate a little bit of heat as they travel and almost always end up as heat when they are absorbed. Sound and heat are both macroscopic descriptions of the movement of atoms and molecules. Sound is the ordered movement of atoms and molecules in rapid waving patterns. Heat is the disordered, random, movement of atoms and molecules. Therefore, all you have to do in order to turn sound into heat is transform some of the ordered movement of the atoms and molecules into disordered movement. This effect always happens to some extent. This effect happens a lot whenever the sound wave encounters irregularities as it travels.