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Al-Miqdad ibn al-Aswad said, "The Prophet, may Allah bless him and grant him peace, used to come at night and would give the greeting in such a way that it would not awaken anyone asleep, but the person who was awake would hear it."
Source: sunnah.com
Other translations
Arabic
حَدَّثَنَا مُوسَى بْنُ إِسْمَاعِيلَ، قَالَ: حَدَّثَنَا سُلَيْمَانُ بْنُ الْمُغِيرَةِ، قَالَ: حَدَّثَنَا ثَابِتٌ، عَنْ عَبْدِ الرَّحْمَنِ بْنِ أَبِي لَيْلَى، عَنِ الْمِقْدَادِ بْنِ الأَسْوَدِ قَالَ: كَانَ النَّبِيُّ صلى الله عليه وسلم يَجِيءُ مِنَ اللَّيْلِ، فَيُسَلِّمُ تَسْلِيمًا لاَ يُوقِظُ نَائِمًا، وَيُسْمِعُ الْيَقْظَانَ.
sunnah.com