As others have mentioned on here, there are certain breeds who rarely bark or don't bark at all. I was just watching a segment on the Basenji breed, and apparently they are super quiet as well. They were even recommended for apartment dwellers.
I had a beagle as well who would seldom bark. The only time she would bark it was more of a howl, and she would only do it if she was really distressed or excited. Food, for example, would get her super excited and she would let out a series of those trademark beagle howls. Other instances would be if we put her outside to go pee, and perhaps lighting came down. She would freak out and beg to come back in asap. Otherwise she would just chill all day and not make a sound.
