Weyl's 'Can one hear the shape of a drum' is well explained in wiki. I have programmed the Laplacian for a given shape (2D), the "sound" is function of the eigenvalues of the Laplacian.
However, I cannot find any documents explaining the sound of a 3D shape: either as a solid shape or as a surface (void inside). Do researches on acoustics cover this topic?
It is the same idea, just solve the wave equation, but now in 3D:
$$ \nabla^2 u = \frac{1}{c^2}\frac{\partial ^2 u}{\partial t^2} $$
And this is a very active field. Here are some examples
Helioseismology: Propagation of acoustic waves in stars, allows you to figure out their internal structure
Medical imaging Use of acoustic waves to produce images of biological tissues
Reflection seismology Oil/water exploration by using the acoustic wave equation
The list is pretty large actually!