Well well, Azel is voiced by Maaya Sakamoto, what a pleasant surprise as I quite like her singing. n.n… let’s see who else did voice work.
Cast
Edge: Ishida Akira (Gaara of the Desert, Kaoru in NGE and Hyuga in PSU)
Azel: Sakamoto Maaya (famous J-pop singer)
Crayman: Masatoy Ibu (Actor who has been in movies such as Azumi, Gojira: Final Wars and even Empire of the Sun)
Emperor: Outsuka Chikao (Dr. Eggman, Gold Roger in One Piece and coincidentially the father of Outsuka Akio, Japanese voice of Solid Snake)
Gash: Outsuka Houchu (Jiraiya in Naruto)
Paet: Hirata Hiroaki (Sanji in One Piece)
Aaen(?): Outsuka Akio (well fancy that, he’s in it too)
Anyuu(Probably Anjou): Ishizuka Unshou (Zabuza in Naruto, Jet Black in Cowboy Bebop)
Bayman/Baiman: Takiguchi Junpei (Porunga & Uranai Baba in DBZ)
Radogamu/Radgam: Saka Osamu (Tengu in DoA2, King Fahn in Lodoss War)
Zadoku: Naya Rokuro (Gadwin in Grandia, Sensui in Yu Yu Hakusho)
Raada: Tani Ikuko (Long time actress, having appeared from sentai series such as Gachaman to anime like Galaxy Express 999)
Damon: Naka Yosuke (Nogi in GitS: Stand-Alone Complex, and voiced a character in Doraemon for 13 years)
Yaeru/Jael: Soumi Yoko (Ayame in the Tenchu series, also Evren in Orta)
Bertsu: Yanaka Hiroshi (Sora in the .Hack games, Naraku in Inu-Yasha)
Ragu: Yayu Atsuko (Satou in Detective Conan, Nobuyuki Furata in Tokyo Godfathers)
Shiera: Okamura Akemi (Nami in One Piece, Shine/Sheena in Tales of Symphonia)
Tu(a)sutaba: Okawa Toru (Roy Mustang in FMA, Ryu in the SFIII series)
Kitooru: Isao Akihiko (most likely, darn several kanji readings)
Boazu: Kosunoki Taiten (Rude in FF AC and LO, Omega in Sonic Heroes)
Kou: Hino Kachiko
Fei: Kojima Sachiko (Ironically also a motion capture actress on Legend of Dragoon)
Raul: Gotozu Atsushi
Baika: Mizuno Ryuuji (Commander in FF:AC, something in Hellsing too)
Yashido: Masutomi Nobuyoshi
Ruua: Inoe Takashi
Abuneru: Nomura Kenji (Also did several characters in Kinnikuman nisei)
Shimeon: Bandou Naoki (Emon in Shadow of the Colossus, Owen in Berserk)
Arudoo: Imai Tomohiko
Juba: Kamei Saburo (Shinkotai Taichi in Fist of the North Star)
Rooda: Korogi Satomi (May in GGXX, Menchi in Excel Saga)
Edona: Isobe Masako (Anoa in Brain Powered)
Ida: Sadaoka Sayuri (Apparently also several “Obaasan” characters, and something in Shenmue)
Bezeru: Nagasawa Nao (Pitto in Mermaid’s Forest)
Ruuden: Saitou Amane (most likely)
Enkak: Okushima Kazumi (Yamaguchi in Gunparade Orchestra)
Kodomo/Child: Koruda Yayoi (Also voiced a child in Cowboy Bebop XD)
Eh, I’ll edit the rest in later, that’s a lengthy cast. XD
Edit: oh… story, right >.>;; Let me see if I could find that within the powers of my limited Japanese.
Apparently… the director/producer is a man called Saitou Toshio… continuing. Dragon Designs by Sakai Satoshi , I presume, we also owe him big time.
There also is a man called Futagi Yukio who was the “Main writer” for Saga. This might be the guy you need.