The text tells us that a voluntary sacrifice was where a person came before God to worship and have fellowship (friendship and talking) with the Lord.  He realised that God was Almighty and so he brought a whole burnt offering.  The shedding of this animal's blood was to cover his sins.  But, one thing set this sacrifice apart, for the entire animal had to be burnt up by fire.

For us our dedication to God is also voluntary when we decide to respond to Jesus fully and give our lives to Him.  In Romans 12:1 Paul says:

"I urge you, brothers, in view of God's mercy (unmerited favour),
to offer your bodies as living sacrifices, holy and pleasing to God
Which is your spiritual worship."

God is not satisfied with our second-best.  He wants the best and He wants us to give ourselves entirely to Him.  The chorus we used to sing said, "All to Him I freely give".   Are you going to say to Jesus, "You can have a little, maybe some, perhaps a lot".  Or will you say, "Lord take all of my life as I want to serve You with all of my heart!"

God bless!