But more generally while recordings might be copyrighted, the voice itself isn’t so copying a voice isn’t a crime, at least as it currently stands. You cannot however use said voice for deceptive practices. You can however for advertisement (needs permission). And in the US you can for satire, at least in the US, withOUT permission (falls under the 1st amendment).
Also, one's likeness (like face image) should also be protected from being used by anyone.
https://en.wikipedia.org/wiki/Sassy_Justice
https://www.youtube.com/@SassyJustice/videos
Full video at https://www.youtube.com/watch?v=9WfZuNceFDM