Noise on the top of the engine head

FIRST: Get the car scanned for codes. We need more accurate data. That said, depending on the mileage and when it occurs, it might be a lifter tick.

First thing I check is plugs and ignition coils - if you notice one side has more ticking sound then the other, find the bad one (I can tell by feel, but I have been in a few brands - Kia/Hyundai and a Dodge; I wouldn't rely on feel unless you can tell with near 100% certainty). Once you find it, swap the coil to another cylinder and see if the sound moves - if it does, the ignition coils are bad. Generally, the others tend to follow once one is bad, so it's better to do all at once. If the sound doesn't move, check the spark plugs and replace them if they have excessive wear.

Depending on the time it occurs, it could be lifter tick :-(. Generally speaking, when it happens on a cold start or when the engine is idle, but tapers down when it's been driven and warmed to temperature, it's due to the lifters when you isolate the coils and spark plugs as the issue. First thing I would do is adjust the lifters to see if the noise subsides, especially if the motor has 100k+ miles - remember, Hyundai (who is part owner of Kia to the point they share engines) isn't exactly known for high mileage reliability, especially with their motors. The 2016+ cars are not as bad as the old cars from 2015 and older, but they're still not quite up to spec with Toyota and Honda(1). Even German cars are sometimes known for having better motors than Hyundai is known for (the rest of the vehicle is a money pit, and they're sensitive to being maintained on time).

(1) Hondas also have manually adjusted lifters but they hold their adjustment for like 150k+ miles. And when they tick, they will run for years that way.

Without an exact model year or engine size, we can't determine how to adjust your lifters or find an SM—each engine is a little different, so I do not have a one-size-fits-all engine procedure for you.