is there anyway I can change them?
I have 2k3 rpgmkr
Yes. Go to the terrain tab in the database, one of the options should say "Sound" and have a box with "..." in it. Select the terrain you want to change the footstep for, and click on that little box. Then pick what sound you want to hear when the player steps on a tile marked with that terrain's ID #. Terrain ID's are set in the Tileset/Chipset tab.