Easier to Rig

[xmorpher]

Q: Are these characters rigged?
A: Nope. I don't really understand how to fit that into my process.

If the characters have the arms in T-shape, then it would be easier to rig using tools like Mixamo:
https://www.mixamo.com

Tutorial:
1- Open the VOX character in MagicaVoxel and export the model in Obj format.
(set the arms in t-shape if they're in another position)
2- Add the 3 exported files (.OBJ, .MTL and .PNG) into 1 Zip file
3- Upload the zip file to Mixamo.com and use the auto-Rig feature
4- Add the free animations available there and export/Download your animated-rigged character!

https://helpx.adobe.com/creative-cloud/faq/mixamo-faq.html

Note: some character are so small that can't be rigged/animated properly, but you can edit them as you want in MagicaVoxel

Thanks for the Voxel Art!