Qubicle is a voxel editor available on Steam from Minddesk. Popular games such as Crossy Road use Qubicle to make their characters.
While developing my most recent game I noticed that there was a lack of information on how to make models in the Qubicle voxel editor, animate them in the 3D modeling tool Blender, and then finally import and use the model in Unity. The following videos below will give you a good start on the workflow for doing the above. The workflow isn’t perfect, but works pretty well for most characters. Feel free to provide any improvements so that it can be better!
Videos