Voxel Drafter

You can make voxel objets with some ways
1) use camera : iOS device must support the LiDAR sensor to use this way
2) make basic shapes like tube, sphere, pyramid etc and also texts
3) use existing shape
4) make from obj file
5) make from photo
Draft mode shows each cross section of the object.
You can see precise position and color of each voxel.
This app makes command data files for Minecraft. You can import the file to the world in Minecraft if you play its Java edition. This is made by a fan of Minecraft and unofficial.
This app also makes obj/mtl files. You can import the files to your 3D editor, e.g. Blender.

iOS 14.5 or later