When I was working with Asterisk the WIKI saved me so many times. Here is an example of how to do the extension configuration
exten => 6000,1,Answer(500)
exten => 6000,n,Playback(hello-world)
exten => 6000,n,Hangup()
exten => 6001,1,Dial(SIP/demo-alice,20)
exten => 6001,n,VoiceMail(6001@vm-demo,u)
exten => 6002,1,Dial(SIP/demo-bob,20)
exten => 6002,n,VoiceMail(6002@vm-demo,u)
exten => 6500,1,Answer(500)
exten => 6500,n,VoiceMailMain(@vm-demo)
And here if you need to know more about how to configure asterisk for voicemail