Place it at the end of a setup shot, just before the character reacts, then follow it with the Shocked Meme Sound Effect for the look-around moment and the Fire Alarm Sound Effect if the joke escalates into a full alarm scene.
About this sound
This is a single chirp from a smoke detector with a low battery, lasting just over a second. It feels instantly irritating and distracting because almost everyone recognises that household warning from real life, prompting an automatic glance toward the ceiling. That familiar domestic signal is what makes the clip work so well in jokes and prank edits.