What kind of noise is it?
Some brakes have a built in metal stripe which makes a noise to indicate worn-off brake pads. This should be a metallic screeching sound.
Bad brake cylinders or leakage in the lines can cause the brake-pad to not entirely re-set after braking, so the pad keeps contact to the disc. This can also happen with a rusted handbrake-mechanism. This makes more of a grinding sound.
Rusted brakes: Especially the rear brakes, if the vehicle stands for a longer time. Also using the handbrake on the standing vehicle. This often causes a more rhythmic sound with every revolution of the wheel
Some little noise right after you stood on the brake is quite normal, as the pads may still be softly touching the disc. This is especially if your discs are a bit worn and rusted.
It may help to inspect the brake with the wheel off. Look for grooves in the disc and severely rusted edges. The brake-pad should have minimum 4mm of material left on them - look in google images after what to look for. The disc / wheel should turn easily when lifted off the ground.
You can also see if one rim does get considerably hotter then the other ones -> Points to a defect brake cylinder.