This tutorial shows how to convert Wavefront .obj file and texture maps to .vox format which Avoyd can import. The output of VoxTool isn't directly compatible with Avoyd as of version 0.8.11, but there is a workaround: open and then save the .vox file in MagicaVoxel before importing it into Avoyd.
VoxelTool example 3D polygon mesh in Blender
Download VoxTool and configure the settings following the video's recommendations:
In the MeshToVoxel tab, starting from the defaults, set:
If you use the example files from the video to test the voxelizer:
Generate the .vox file.
Download and install MagicaVoxel if you don't have it already.
Open the vox file in MagicaVoxel (use the menu, not drag and drop), and save it.
Voxelized example in MagicaVoxel
Open Avoyd voxel editor and import the vox file: menu File > Import > MagicaVoxel.
Voxelized example in Avoyd voxel editor