I've never had any professional help. I won't say i'm amazing but a lot of people say I have a good voice.
I personally think it is possible to teach yourself. Once you learn the ranges your voice can comfortably reach, it's all about how you sing them to match your specified sound.
It's a lot like any instrument. Piano for instance, you learned the keys, and now you play them in a certain order for a song, that's how you would do it with voice but instead of keys, it's range and scales.
It's all about practice and comfort.
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