Is it permissible to imitate voices if it is without mockery, ridicule, or insult, and the owner of the voice agreed, laughed, and did not consider it mockery?

If the person is not harmed by the imitation of their voice, then imitation is not forbidden. However, if they are harmed by it, then it is forbidden, due to the Prophet's (peace be upon him) saying: "I would not like to have so-and-so (worldly possessions) if I were to imitate a person." The imitation that is forbidden is doing as he does or saying as he says in a manner that belittles him. Imitation is only forbidden if it leads to contempt or belittlement of others, which harms the person being imitated. But if the owner of the imitated voice is not harmed, and it is done in jest, then there is no objection.