Unable to run Speech2Text example in documentation
## Environment info
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- `transformers` version: 4.16.2
- Platform: Linux-5.4.0-94-generic-x86_64-with-glibc2.10
- Python version: 3.8.8
- PyTorch version (GPU?): 1.10.2+cu102 (True)
- Tensorflow version (GPU?): not installed (NA)
- Flax version (CPU?/GPU?/TPU?): not installed (NA)
- Jax version: not installed
- JaxLib version: not installed
- Using GPU in script?: no
- Using distributed or parallel set-up in script?: no

### Who can help
 @patrickvonplaten, @anton-l
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- Wav2Vec2, HuBERT, SpeechEncoderDecoder, UniSpeech, UniSpeechSAT, SEW, SEW-D, Speech2Text: @patrickvonplaten, @anton-l

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## Information

Model I am using: Speech2Text

The problem arises when using:
* [x] the official example scripts: (give details below)
* [ ] my own modified scripts: (give details below)

The tasks I am working on is:
* [ ] an official GLUE/SQUaD task: (give the name)
* [ ] my own task or dataset: (give details below)

## To reproduce

Steps to reproduce the behavior:

Run the example in the documentation [here](https://huggingface.co/docs/transformers/model_doc/speech_to_text#transformers.Speech2TextModel)
```python
from transformers import Speech2TextTokenizer, Speech2TextModel
import torch

tokenizer = Speech2TextTokenizer.from_pretrained("facebook/s2t-small-librispeech-asr")
model = Speech2TextModel.from_pretrained("facebook/s2t-small-librispeech-asr")

inputs = tokenizer("Hello, my dog is cute", return_tensors="pt")
outputs = model(**inputs)

last_hidden_states = outputs.last_hidden_state

```
Spits out error:

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```
Traceback (most recent call last):
  File "test.py", line 8, in <module>
    outputs = model(**inputs)
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
TypeError: forward() got an unexpected keyword argument 'input_ids'

```

Another [official example](https://huggingface.co/facebook/s2t-small-librispeech-asr) also fails:
```python
import torch
from transformers import Speech2TextProcessor, Speech2TextForConditionalGeneration
from datasets import load_dataset
import soundfile as sf

model = Speech2TextForConditionalGeneration.from_pretrained("facebook/s2t-small-librispeech-asr")
processor = Speech2TextProcessor.from_pretrained("facebook/s2t-small-librispeech-asr")

def map_to_array(batch):
    speech, _ = sf.read(batch["file"])
    batch["speech"] = speech
    return batch

ds = load_dataset(
    "patrickvonplaten/librispeech_asr_dummy",
    "clean",
    split="validation"
)
ds = ds.map(map_to_array)

input_features = processor(
    ds["speech"][0],
    sampling_rate=16_000,
    return_tensors="pt"
).input_features  # Batch size 1
generated_ids = model.generate(input_ids=input_features)

transcription = processor.batch_decode(generated_ids)
```
spits out:
```
Traceback (most recent call last):
  File "t5.py", line 26, in <module>
    generated_ids = model.generate(input_ids=input_features)
  File "/opt/conda/lib/python3.8/site-packages/torch/autograd/grad_mode.py", line 28, in decorate_context
    return func(*args, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/transformers/generation_utils.py", line 1088, in generate
    model_kwargs = self._prepare_encoder_decoder_kwargs_for_generation(
  File "/opt/conda/lib/python3.8/site-packages/transformers/generation_utils.py", line 507, in _prepare_encoder_decoder_kwargs_for_generation
    model_kwargs["encoder_outputs"]: ModelOutput = encoder(**encoder_kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
TypeError: forward() got an unexpected keyword argument 'input_ids'

```

## Expected behavior
No error is thrown

<!-- A clear and concise description of what you would expect to happen. -->

@anton-l - we should put this on our TODO for the doc tests<|||||>`inputs_ids` should be replaced with `inputs` - I'll try to update the docs asap<|||||>Should be fixed here: #15911 and be part of new release.