To add to what u/CrocodileDog said, the gas is already inside the joint.
All bodily fluids already have gases dissolved in them. In the case of synovial fluid, which is in a sealed capsule, when you stretch that capsule it decreases pressure in the fluid, and the gas comes out of solution. It then slowly reabsorbs over time, which explains why you generally can’t crack the same knuckle twice in rapid succession (refractory period).
Disclaimer, this is the best explanation currently available; it’s not exactly settled science yet.
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