In your particular sentence if you use the infinitive form your are suggesting that the action of speaking lasted for at least some, if not the whole, time, then you recognized his voice. If you use the -ing form your are suggesting that you recognized his voice as soon as the action of speaking started taking place.
The first example, "it is worth mentioning that", is acceptable. The second, "it is worth to mention that", is incorrect. One might correct it by saying:
Common verbs followed by the "to" infinitive: afford, agree, decide, expect, hope, learn, need (when used as a main verb), offer, plan, pretend, promise, seem, want, would like You can find comprehensive lists of verbs followed by the "to" infinitive in dictionaries, grammar books, and English and ESL websites like the ones below: - Cambridge
Gerund meaning. Gerunds are a special type of word that look like verbs but function as nouns or noun phrases. Imagine a verb and a noun had a baby, that's a gerund! Gerunds are formed with the base form of a verb plus the suffix ' -ing'. They look just like the present participle form of a verb, but they actually function as the noun in a
Verb patterns: verb + infinitive or verb + - ing ? - gramática inglés y uso de palabras en "English Grammar Today" - Cambridge University Press
London. English - South-East England. Sep 24, 2010. #9. 'Want' + gerund-participle can be called a concealed passive. So it can only be used with transitive verbs, I believe. This room wants cleaning. = This room needs/wants to be cleaned. It's quite colloquial, unlikely to occur in formal writing.
QBnehiG.
need to infinitive or gerund