Growl might work, but only if your context is tightly defined.
Growl is a verb and noun applied primarily to animals.
When applied to humans it means either to say something in a low grating voice, typically in a threatening manner or a low guttural sound made in the throat to express hostility or anger. (Oxford Dictionary). Unfortunately, "growl" does not cover the
But, as Clive said, it's a lot of things to ask of just one word.
gruff |gr?f| adjective abrupt or taciturn in manner : penetrate a gruff exterior and you will find him affable. • (of a voice) rough and low in pitch : she spoke with a gruff, masculine voice.