A system and method for voice-based control of sexual stimulation devices. In some configurations, the system and method involve receiving voice data, analyzing the voice data to detect spoken commands, and generating control signals based on the commands. In some configurations, the system and method involve receiving voice data, analyzing the voice data for non-speech vocalizations, detecting voice stress patterns, and generating control signals based on the detected patterns. In some configurations, the analyses of the voice data are performed by machine learning algorithms which may be trained on associations between speech and non-speech vocalizations of a user while the user engages in one or more voice-based training tasks, associating speech and non-speech vocalizations with controls of the sexual stimulation device. In some configurations, machine learning algorithms are used to make the associations. In some configurations, data from other biometric sensors is included in the associations.