It can be learned. Anybody can sing well with enough dedication. I’m a voice teacher, and I couldn’t even sing Mary Had a little lamb until I was almost 18 years old. But I wanted to sing so I started taking lessons, now ten years later I am a professional singer and voice teacher.
The biggest difference between what makes a voice sound pleasant or unpleasant is “resonance”. When we sing parts of our bodies and skulls act as resonators for the sound being produced from our vocal folds. Specifically the pharynx and nasopharynx. Those are our “primary resonators” for singing. There are other factors involved in pleasant sounding singing vs unpleasant such as intonation, emotion, musicality etc. Classical Italian style singing is called “Bel Canto” singing which literally means “beautiful sound” and is completely based around the concept of beautiful resonance.
There’s a lot more that goes into it but that’s the closest I can get to explaining like your 5. (though I definitely failed at hitting that mark too lol)
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