Binaural Beats or “binaural tones” are created by playing slightly different frequencies separately into each ear. The difference between the two frequencies stimulates a response in the brain which correlates with this frequency difference. For example, if we present a 100 Hz tone to the left ear and a 105 Hz tone to the right ear, a frequency of 5 Hz is stimulated. This is what is known as the “frequency following response”.
Most of these websites give some brief explanation of entrainment. The example you hear most often is that of Dutch polymath Christiaan Huygens, who in 1665, hung two pendulum clocks next to each other on a wall. He noticed that the pendulums eventually matched each others' frequency, but always in antiphase, opposite to each other, as if canceling each other out. He'd try disturbing one or setting them in sync, but they'd always return to the same antiphase synchronization. Huygen's experience is widely touted on binaural beat websites as a demonstration of how systems can become spiritually connected through some energy field. However, they misunderstand what happened, and have not read the full story. Huygens also tried taking one clock off the wall, and as soon as they were no longer physically connected to one another via the actual wall, the effect disappeared. It was not the proximity of the clocks to one another that created the entrainment; it was their physical, mechanical connection to one another. As each pendulum swung it imparted an infinitesimal equal and opposite reaction to the wall itself. With two clocks on the wall, the system naturally sought the lowest energy level, according to the laws of thermodynamics; and both pendulums would thus swing exactly counter to each other, minimizing the system's total energy.

If brainwave entrainment leaves you with unwanted side-effects (see below) or discomfort, you’re probably encouraging a range of brainwaves that are already excessive in some area of your brain. The way around this is to get a brain map to see what your brain’s strengths and weaknesses are, and see what (if any) brainwaves could use some encouragement.