Grandia II has voice acting and is for the PS2 (and Dreamcast and PC but who cares?). Grandia I, which you may be thinking of, did not have voice acting and was for the PSX. It was 2D sprites on a 3D background. The world map was 2D and static and you moved around on it by pointing and clicking on locations. The story starts off very, very slowly (the slowest of any rpg I've played) but eventually picks up. However the initial drag is a turn off for many.
EDIT: To my genuine surprise, there are apparently two more Grandia games - Grandia Xtreme and Grandia III, both of which I have never even heard of. Which means they probably horrendously suck.