The cable I usually use for the ultrasonic sensors is this McMaster-Carr part number: 8233T32
It’s a CMR rated 4-conductor, stranded, shielded, 22ga cable. It also happens to have a CMX rating which makes it sunlight resistant and suitable for outdoor and wet locations. Most other mult-conductor cables (like the kind you can find at the local hardware stores) are not suitable for wet locations or will break down in sunlight, so the jacket will absorb water over time or will crack and degrade due to UV light exposure.