I think in order to answer the question more definitively we would need some topology information of the current setup, and also what you specifically want to gain from it - are you looking for more than management only? It also depends if you are already running a dynamic routing protocol as to whether statics are the best option.
If you imagine a scenario whereby:
Data Network ----- Data Router ----- Voice Router ----- Voice Network
(where the link between the Data and Voice routers was direct)
Then the solution would be very straightforward - putting a static route on each of your routers, pointing to the other network, via the edge port. You would need static routes on each device, as otherwise the traffic would only flow one way and you would get no response. You would probably want to put an ACL in place to limit traffic for security purposes though, given that the traffic is management only.
However, if you have multiple routed links between the access device (e.g. management workstation) and the voice network, then you would also need to either place statics at those routed links also, or look to use a dynamic routing protocol.
As I say, a topology would be good.