voice: living creature、God、angels, ex: lion roar, cat meow, dog bark sound: abiotic, ex: radio, ultrasound

"sound" refers to noise that anything can create ("sound waves"). A "voice", however, refers specifically to the sound that issues from someone's mouth. However, "to voice one's opinion" means to make known to others what their opinion is. (In other words, "voice" is used to confer an idea to others.)