This is frequency modulation, widely used for broadcast radio.
As a simple model, something like $t\mapsto A\sin\big(\omega_1( t + \alpha\sin(\omega_2 t))\big)$ should do the trick, where
* $\omega_1$ is the (angular) frequency of the carrier wave.
* $\omega_2$ is the (angular) frequency of the signal.
* $\alpha$ is a modulation depth that should be kept comfortably below $1$.
If the signal is something more complex than a sine wave, replace $\sin(\omega_2 t)$ by an _antiderivative_ of the signal.