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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.
A voluntary muscle is when you consciously choose to move a muscle, like pointing a finger or picking up a glass for example. Skeletal muscles are voluntary. Its activity can be consciously controlled by our bodies because those are the bones that allow us to move our muscles and bones when we want. An involuntary muscle is when it moves without you choosing to, such as heart muscles or reflex muscles like blinking an eye.