how do you activate a sound effect when two objects with box colliders hit?

I have created a first person controller which can pick up and drag objects with rigid bodys. I was wondering how it would be possible to activate a sound effect if i were to drag and drop one of these ridged bodied objects onto an object which has a box collider. The objects i can pick and drag also have box colliders. Im assuming this is a pretty standard box collider/box collider hit activation, but im just starting out with unity so wouldn't have a clue where to start.

My aim is so that when i drag and drop models of ingredients onto a sauce-pan it activates a sound effect. If theres any other way of achieving this, suggestions are very much welcome, and any form of help would be much appreciated.

Thanks