Voxatron absolutely uses "true" voxel rendering.
> Voxatron is based on a virtual 128x128x64 display. It's a buffer of 3d video memory that is rendered out to the screen at the end of each frame, much as an old-school 2d display is. You can POKE bytes into the virtual memory, and they come out as voxels. I don't compromise on this -- even the menus are drawn into the voxel display. Hopefully one day I can get hold of a real physical 128x128x64 display and play Voxatron on it with almost no modification.
> The renderer is written in software (C + SDL). Each frame, scan through the virtual video memory back to front and look for voxels that have empty neighbours. If they are exposed, I transform the corners of a cube intro screen space and scan-render the polygon. Shadows are done with a traditional shadow-map but sampled with a filter to get the soft shadows.
http://www.lexaloffle.com/bbs/?tid=260