It seems like you’re confusing two different things here, so I’ll try to clarify each of them:
Singing is something you can learn and practice. Like playing an instrument. The whole idea that you’re just born with a good singing voice is a complete myth.
The “pleasantness” of a voice can’t be changed however. Regardless of whether you are speaking or singing. Some people just have voices that sound more pleasant to listen to, though this also depends on your taste and what kind of sounds you find pleasing. Some people like smoother voices, while others prefer more rough and raspy voices.
Some people can make their voices sound different. Voice actors, for example, often change their voice when playing a character. For example [Billy West](https://www.youtube.com/watch?v=1V-xKq64aRY), who played several characters on Futurama. But this still doesn’t affect their natural voice that they use when speaking normally.
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