Morse code qualifies as a digital mode, although organic brains are somewhat better at copying it than electronic ones. Ham radio operators that did “phone” (ham-talk for voice) started out with AM modulation. Sometime after World War II, there was widespread adoption of single side band or SSB. SSB takes up less bandwidth and is more reliable than AM modulation. On the digital side, hams turned to different and more sophisticated digital transmission types with computers pushing bandwidth down and reliability up. However, a recent trend has been to encode voice over ham radio–sort of VoIP with radio instead of Ethernet–using an open source program called freedv.
[AA6E] made a very informative video where he carries on a QSO (a conversation) with a distant station using freedv. What makes it interesting, is towards the end when the two stations switch to regular SSB. The difference is dramatic and really points out how even with less bandwidth (roughly 3 kHz for SSB vs 1.25 kHz), the digital mode is superior. The freedv software (available for Windows or Linux) compresses audio to 700-1600 bits per second and spreads it over 16 QPSK signals.
Even if you don’t have a ham radio license (and if not, why not?), it is interesting to see how transmitting a complex signal like voice using digital methods compares with the old analog-style transmissions.