Are there any techniques to make your voice not squeak when you sing?
Yes. There are many techniques depending on what is causing the issue. The answer would be very different for different causes so I can’t be specific for you. First, you need to be sure your voice is healthy and that there isn’t a physical limitation — perhaps by seeing a doctor. You will need to work in person with a teacher so they can assess why your voice is functioning the way it does. They will know exercises to help you develop the voice so that you can overcome the issue. This will include getting a steady flow of air, having the cords come together with the right amount of energy, and accessing all of the resonators in your head and chest.