Developing your voice for music can be difficult. Often the sound you hear when you sing can sound very different to you than it does to others!
(Try singing into a recording device (computer/ Dictaphone/ tape recorder) and then play it back to yourself to see what I mean)
This is where a singing coach comes in. A singing coach has a very well trained ear and they will be able to help develop your voice so it sounds better with music. No matter what your voice type is - Countertenor, Tenor, Baritone, Bass, Soprano, Mezzo-soprano, Contralto, Alto etc there are ways your voice can be matched with music by a qualified voice/ singing teacher.
You can practice at home if you have a piano or a keyboard by playing a note - and then trying to match the note with your voice, saying "LA". Creating a feedback loop by recording yourself and playing it back will improve the results you get dramatically.