I took a voice over class from a vocal coach once or twice, I did radio in high school, I recorded narration for some experimental software for work, and I've recorded a book through LearningAlly. I've also DJ'ed one or two events, but none of those are regular things I do now.
I don't know if I would do voice acting, because I have no acting or drama experience. But I wouldn't avoid auditions for simple roles either.
As for what my voice is, it's rather normal. Not too high or low-pitched. But in a lot of voice over reads, they want a voice that "fits" what they want and someone who can execute it (usually cheaply). Voice over is a lot more broad (and probably less demanding) than voice acting too, because you may just do a line or two for a commercial, or you could do something like read a book, but you might have days to do it. And you rarely have to reread lines that you're having to make a gravely, raspy, and/or guttural voice while screaming for that leaves you either vomiting or with a shot voice for a few weeks.
I'm not opposed to voice acting though. At some point, I'll pick out something to make a demo with and will commit to finding an agent who can find those reads for me. I'll let him or her know that I'm not opposed to voice acting roles as long as they're not too stressful on my voice. My aim will never be to become a Steve Blum or Jennifer Hale. I'd do it on the side for fun.
It is something I keep in the back of my mind. But pursuing it would probably require getting an agent to find reads for me, and I'd probably want to join a guild or something. Those both cost money, if you get reads or not, and I'm not at the point that I can really invest in a decent home studio setup (even a makeshift one with a pop guard, something to absorb sound on the walls, a decent computer to record, decent production knowledge, a decent mic, and a real commitment to actually making some side money on it.)