Milas' voice sounds like it belongs to the lead girl of a magical girl anime. Rigs' voice sounds like it belongs to the first opponent the protagonist of a fighting anime would battle, the generic big burly dude who's only role is to talk shit, look intimidating, and then lose.
It's like, I'm quite 50/50 on the voices (not too bothered tbh) but I HEAVILY prefer the English voices on Rig + Mila and heavily prefer the Japanese voice on Leifang and Naotora
Mila sounds like an older version of the girl from Pretear