Disconnect the door from the electric door opener, if you have one. To do this, gently pull the cord that hangs from the electric door opener. Try to determine where exactly the noise is originating by slowly opening and closing the garage door manually. The problem could be in the springs, hinges or rollers attached to the door.
Tighten all of the screws in the various hinges, rollers and springs with a screwdriver. Open and close the door manually afterward to determine if this corrects the problem.
Use a spray lubricant to lubricate all of the garage door's moving parts. Wipe away excess lubricant with an old rag. Test the garage door again.
Replace the rollers and hinges if lubricating and tightening them did not correct the noise issue. Continued noise indicates that the parts may be failing. You can find the rollers and hinges at your local home improvement supply store.