TopoDS_Shape does not support voxel representation, so that at minimum vtkVoxelModeller output should be somehow converted to triangulation. Drawing each voxel as triangulated box is almost of no use (if you are not exporting a model to Minecraft), so that normally the algorithms like Marching Cubes are applied reconstructing triangulated surfaces from voxel data set.
Having a triangulation, it is possible constructing Poly_Triangulation and put it into TopoDS_Face. It should be noted, though, that OCCT has very limited support of such triangulation-only shapes, so that many algorithms will not be able to use them anyhow.
Reconstructing B-Spline surfaces from triangulation is also possible, but it is a complex matter difficult to automate.
https://www.opencascade.com/content/surfaces-scattered-points