I don't know if this counts but it could give you ideas. Working on something similar but it renders voxels as pixel art, with some post processing like outlining, inner outlining (which helps separate overlapping parts) and indexed shading to match the pixel art style of the game.
It blends in pretty well:
I had to work on a custom animator/renderer for this process, it's not too hard to implement if this is something that interests you and you want to do yourself. Translate/rotate/scale a 3d array of voxel data based on the rotation, position, scale of the bones they are attached to, so using trig or matrix math to manipulate each point. Like image rotation algorithms, you will get empty spaces of voxels unless you use some form of interpolation. To keep it simple I just doubled or triple the voxel data in each position with slight offsets inorder to fill in the gaps. You might notice it's not perfect.
The choice for me was not so much about style, but having assets that are modular, able to be rotated at arbitrary angles, easy to animate, easy to fix and change designs later in development while having those changes be reflected in all their animations.
For modelling I just take voxel data from other dedicated voxel modelling apps like MagicaVoxel and Qubicle.