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Voluntary muscles are the muscles that can be controlled consciously, and are made up of cylindrical fibres. Generally, these muscles are attached to bones of the skeleton, thus called the skeletal muscles. Skeletal muscles are striated and are made up of multinucleate cells.
Cardiac muscle (Involuntary) Voluntary muscles are those that you can conciously control; for example your biceps. Involuntary muscles are controlled by your subconscious and you have no control over them such as your esophagus or stomache (smooth muscle) or your heart (cardiac muscle) Source: Modern Biology by Holt.