VOYAGE-19 is Bilal's first recorded release since his guest appearances in late 2019 on the Queen & Slim soundtrack and the pianist Robert Glasper's mixtape Fuck Yo Feelings.

[8] According to the music journalist John Vettese, each song "represents a step along the journey through a very strange year", demonstrated most vividly on the EP's final track, "Voyage to a New World".

/ Just walk, don't run"), "Voyage to a New World" is described by Olsen as "a kind of meditation before taking various twists and turns", as "distorted vocals and chaotic percussion lead to a lush, soulful flute-laden melody that soon morphs again.

"[8][9] In Vettese's observations, the "experimentally structured piece" begins with "a space music synth tapestry, and switches moods with a bass drop to a series of different tones and textures, ultimately landing on a surreal groove reminiscent of Radiohead and Sun Ra, and guided by Melanie Charles' flute, BigYuki and Glasper's keyboards, and a choir of voices featuring Madison McFerrin, YahZarah, and Bilal himself.

[9] In the new world, we'll make a better day / no stress, no more wars going, no more hate politics / I'll be waiting for the dayThe EP's session events were streamed live in their entirety on YouTube.

The broadcast simultaneously showed its artwork being made, with a visual artist enlisted during each song's making, including Angelbert Metoyer and Shanina Dionna.

[5][6] Writing for WXPN's The Key website in December 2020, Emily Herbein applauded VOYAGE-19 as a testament to the will power of musicians during 2020 and the beauty of their connectivity under the circumstances, citing it as among the year's best quarantine collaborations.