Can't change Noise Cancellation mode for Airpods Pro from my Mac running Catalina 10.15.1
According to this article: https://support.apple.com/en-us/HT210643 when the Airpods Pro are connected to your Mac, you should be able to switch the Noise Cancellation mode from the Sound menu in the menu bar:
In my case, I do see the Airpods in the sound menu, but there is no submenu to change this setting.
MacBook Pro with Touch Bar