I made a simple tool that takes a spritesheet and turns it into voxels. The voxel sprite can be animated. Feel free to check it out and enhance it. Link to the repo: github.com/Yatchanek/VoxelSpriteCreator Artwork by Clembod.
As you can see in the video, you can set the thickness independently, so it looks less flat. It can be useful in some scenarios. Also, you could modify it to accept a bump map, and manipulate the z scale of each voxel independently. I don't know how to create a good bump map, so I haven't been able to test and implement it yet, but it should be one additional line in the shader, if you have the map. Feel free to experiment with the code!