A knuckle is a joint in a finger where two bones come together or connect. This joint is filled with a fluid called synovial fluid. Synovial fluid is a viscous fluid consists of dissolved gases like oxygen and carbon dioxide. When bones move, the synovial fluid prevents them from grinding against each other. On the other hand, when we stretch or bend our finger, the space between the two bones increases. This causes synovial fluid to stretch and thus creating low pressure in it. Now, as gases are less soluble at low pressure, the dissolved gases in the synovial fluid remains undissolve, resulting in the formation of bubble. Thus we hear as the pop sound.
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