Extract Sound from iso files -- 2

I need someone to explain to me how to extract the audio files of the voices of the characters in a video game. the procedure would be to download a rom of a videogame for example ps2 in iso format or any other image file and extract all the sounds of the videogame, ultimately extracting all the audio from an image file.
I need you to tell me how to do it and what free software to use for it.