Abstract Topological pumps have many implications in physics, for instance, it enables coherent transfer of energy, charge, and spin. However, a topological pump would fail for signal and information transmission since the underlying adiabatic condition is unavoidably violated with rapid modulation. Here, we construct a nonadiabatic pump in a two-color Floquet setting of topological acoustics and demonstrate a dynamical topological pumping for delivering signal pulse in both physical time (t) and propagation coordinate (z). The pulse transfer indicates a direct detection of anomalous topological invariants of periodically-driven systems. Using our fabricated acoustic waveguide arrays, we demonstrate a topological pump transport of both continuous and pulsed sound waves, proving the utility of our pump array for dynamical signal transmission and wave manipulation. Our findings can advance both fundamentals and implementations of dynamical topological pumps in driven systems.