How about a human they see maybe once a week but definitely know?
In my experience, yes, some can; but others apparently don’t.
I concur with Ringo, although many that do recognize a voice are confused by hearing a voice from a person they cannot see.
I once knew a chap who was estranged from his wife (who had custody of the family pet) but he regularly 'phoned his wife and asked her to “put the dog on.”
I’m not sure, but it seems to me that as TV audio improves dogs get more fooled by audio coming from the speakers. Perhaps lower-bit sound is not as recognizable…
At least a couple cats I know can recognize their mistress’s (distinctive) voice, even over low grade phone connections.
They seemed to know some “trick” was being played on them, but they didn’t lose interest, totally.
Considering that people can’t identify callers a good portion of the time, those cats are doing pretty well.
I spoke with my puppy dog when I was overseas.
Well, I spoke and whistled and she looked at the phone, confused, then ran into my room and leant her head on my bed, sniffing my pillow, mournfully. I’d been gone about 6 months at that stage.
So, yes, at least some dogs can.