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sox

From man sox:

Use the -V option to see what processing SoX has automatically added. The -D option may be given to override automatic dithering. To invoke dithering manually (e.g. to select a noise-shaping curve), see the dither effect.

Generate 1000 Hz sine wave for 1 second:

# sample_rate_hz=48000
sox -V -n -r 48000 -b 16 -c 1 sine-48k-1ch-1000ms.wav synth 1 sin 1000 vol 0.05
sox -V -n -r 48000 -b 16 -c 2 sine-48k-2ch-1000ms.wav synth 1 sin 1000 vol 0.05

# sample_rate_hz=16000
sox -V -n -r 16000 -b 16 -c 1 sine-16k-1ch-1000ms.wav synth 1 sin 1000 vol 0.05
sox -V -n -r 16000 -b 16 -c 2 sine-16k-2ch-1000ms.wav synth 1 sin 1000 vol 0.05

Generate 2 second stereo audio file. First second — 1000 Hz in left channel, second second — 2000 Hz in right channel:

sox -V -c 2 -n -r 48000 -c 2 -b 16 left-right-48k-2ch-2000ms.wav \
  synth 1 sin 1000 vol 0.05 remix 0 1 : \
  synth 1 sin 2000 vol 0.10 remix 2 0

Generate stereo files with zero channels using -D or --no-dither:

# sample_rate_hz=48000; left_hz=1000
sox -D -V -n -r 48000 -b 16 sine-48k-5000ms-L.wav synth 5 sine 1000 vol 0.1 remix 1 0

# sample_rate_hz=48000; right_hz=1000
sox -D -V -n -r 48000 -b 16 sine-48k-5000ms-R.wav synth 5 sine 1000 vol 0.1 remix 0 1

Generate silence for 5 seconds:

sox -V -D -n -r 48000 -c 1 -b 16 silence-1ch.wav trim 0 5
sox -V -D -n -r 48000 -c 2 -b 16 silence-2ch.wav trim 0 5