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Rasa is an open dialogue stack; voice streaming with Cartesia is documented for Rasa Pro (commercial) assistants. Configure a voice channel in credentials.yml with tts: name: cartesia and CARTESIA_API_KEY per Rasa’s speech-integrations reference. Start with their walkthrough, then use the reference for parameters (model_id, voice, multilingual language_map, etc.):

Tutorial: Build a Voice Agent with Rasa and Cartesia

Full tutorial for building a voice agent with Rasa and Cartesia.
For implementation details, see their documentation:

Rasa > Docs > Speech integrations (Cartesia)

Rasa reference for Cartesia TTS in voice channels.