Avoice is used when a personspeaks orsings. It describes human communication, rather than that of animals.
Thesound of the voice is carried by the air, and can be heard. A vocal sound is made when air is passed over thevocal cords, so making a meaningful sound. If a person has no voice, the condition is calledmuteness.
Themusical part of asong that is sung by a person using their voice is calledvocals.
Manyterrestrial animals make sounds, especially those that arevertebrates. By extension, this might be called their voice, but another term is "animal sounds". That includes a wider range of noises which animals may produce.
