It's quite easy to bind those voice commands. You can do it either in your console, or in a config file, like your autoexec.cfg.

a bind works like that:

bind [KEY] [to all or only your team?] [voice command] [message you want be shown in chat]
 

so, here is an example:

bind p vsay PathCleared the path is cleared!

or

bind p vsay_team Pathcleared the path is cleared!

the first one will use it global (everyone can see and hear), the second one only to your team.
so, if you press p in game the bind will be executed. Of course you can also use coloured messages.
 

1.Statements


Path cleared. - PathCleared
The enemy is weakened. - EnemyWeak
All clear. - AllClear
Incoming! - Incoming
Fire in the hole! - FireInTheHole
I'm defending. - OnDefense
I'm attacking. - OnOffense
Taking fire! - TakingFire
Mines cleared. - MinesCleared
Enemy in disguise. - EnemyDisguised



2. Requests

Medic! - Medic
I need ammo! - NeedAmmo
I need backup! - NeedBackup
We need an engineer! - NeedEngineer
Cover me! - CoverMe
Hold fire! - HoldFire
Where to? - WhereTo
We need Covert Ops! - NeedOps



3. Commands

Follow me! - FollowMe
Let's go! - LetsGo
Move! - Move
Clear the path! - ClearPath
Defend our objective! - DefendObjective
Disarm the dynamite! - DisarmDynamite
Clear the mines! - ClearMines
Reinforce the offense! - ReinforceOffense
Reinforce the defense! - ReinforceDefense



4. Talk

Yes! - Affirmative
No! - Negative
Thanks a lot! - Thanks
You're welcome. - Welcome
Sorry! - Sorry
Oops! - Oops


5. Global

Yes! - Affirmative
No! - Negative
The enemy is weakened. - EnemyWeak
Hi! - Hi
Bye. - Bye
Great shot! - GreatShot
Yeah! - Cheer
Thanks a lot! - Thanks
You're welcome. - Welcome
Oops! - Oops
Sorry! - Sorry
Hold your fire! - HoldFire
Good game! - GoodGame


7. Objectives

Command acknowledged! - CommandAcknowledged
Command declined! - CommandDeclined
Command completed! - CommandCompleted
Destroy the primary objective! - DestroyPrimary
Destroy the secondary objective! - DestroySecondary
Destroy the construction! - DestroyConstruction
Construction underway! - ConstructionCommencing
Repair the vehicle! - RepairVehicle
Destroy the vehicle! - DestroyVehicle
Escort the vehicle! - EscortVehicle


8. Bindable statements

Cover me! - FTCoverMe
Disarm the dynamite! - FTDisarmDynamite
Fall back! - FTFallBack
Soldier, covering fire! - FTCoveringFire
Deploy mortar! - FTMortar
Heal the squad! - FTHealSquad
Heal me! - FTHealMe
Revive team mate! - FTReviveTeamMate
Revive me! - FTReviveMe
Destroy objective! - FTDestroyObjective
Repair objective! - FTRepairObjective
Construct the objective! - FTConstructObjective
Deploy landmines! - FTDeployLandmines
Disarm landmines! - FTDisarmLandmines
Call airstrike! - FTCallAirStrike
Call artillery! - FTCallArtillery
Call mortar barrage! - FTMortarBarrage
Resupply squad! - FTResupplySquad
Resupply me! - FTResupplyMe
Explore area! - FTExploreArea
Explore at co-ordinates! - FTExploreAtCoordinates
Destroy satchel objective! - FTSatchelObjective
Infiltrate! - FTInfiltrate
Go undercover! - FTGoUndercover
Provide sniper cover! - FTProvideSniperCover
I need a target! - NeedTarget
Meet at waypoint! - FTMeetWaypoint
Attack waypoint! - FTAttackWaypoint
Defend waypoint - FTDefendWaypoint