To answer the first question only, you can use the simple past tense to report events in the past, with any appropriate verb, including the examples you gave, like whisper, sigh.
"Laughing" is a different activity to speaking whereas e.g. whispering, is a form of speaking. So you could say :
" I am older than you," Sarah joked. or
" I am older than you," Sarah said, while laughing.
"joking" is a form of speaking.