Glass doors, windows etc seems to imply that your thinking of a house or other building. If so, you could attach rockets to your home, blast off into space and move through glass windows and glass doors without fear of being heard. Why? Well it's because sound doesn't travel in a vacuum.
That's the key. If you think along the lines of a vacuum on earth or in space, you should be able to devise a method based around my suggestion.
Another method would be the careful application of hydrofluoric acid. This weak but extremely corrosive colourless acid dissolves glass and has to be stored in Teflon containers.
The acid would dissolve the glass almost soundlessly.