Yes but you need root. And the modification would mean no OTA updates too.
Oddly with this particular sound, you cannot even delete it. You must replace it with a "silent" .ogg file. It cannot even be a text file renamed .ogg either. It must be a genuine ogg file, with no audio in it.
Then you have to put that in /system/media/audio/ui and it must be called WirelessChargingStarted.ogg
There MAY be an xposed module to do it too. I dont know it though.
edit> Here's my silent ogg that I use