luis Can you show me an example of the zener?
that's a very common approach to get a voltage reference, see, e.g.: https://www.electronics-tutorials.ws/diode/diode_7.html
luis i could see at the oscilloscope that the unwanted noise is a square wave and it changes the frequency when changing the programs and touching the sensors.
Is this the scope on Bela? If so, then it's not a problem with the audio output, but with the sound generation or with the data that controls it, which in turn probably means your sensors. Again, you have to isolate the source of the issue first.
Another possible source of issues you have there is that you are using the unfiltered 5V for the "SharpIRSensor", which is likely bleeding a lot of that noise into your analog outs. Btw, are you actually using the A0 pin that's on P1.19? If so, I would expect it to blow up the CPU, as that input is only 1.8V tolerant. If you are using the analog inputs on the BelaMini cape, then it's not a risk. Either way, you may benefit from using the much quieter 3.3V power line to power it - if it supports it.