When you select the PK3 output file and PNG as the sprite format, the sprites (in all angles) are exported in a PK3(actually zip) file as PNG Images.
Also the left / right / front otc views are actually a sprite-like representation of the voxel (isometric projection).
Other voxel formats are a little obscure to implement (tried to make a kvx export but it was much more tricky and difficult than reading them).
Haven't tried vox format. After some google search, I found some documentation at https://github.com/ephtracy/voxel-model/tree/master/vox.
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