No, to the best of my knowledge, there is no single service (yet!) that takes your voice mail, transcribes it into text and posts that message on Twitter. But there are two services that, when used together, do exactly that. And like Twitter itself, they're both free.
The process is simple in concept. A free new service called reQall gives you a toll-free number and lets you leave a message to yourself. (It's a lot like .) The reQall service transcribes that message into text, and makes that text available in several formats, including Real Simple Syndication.
Another, unrelated service called TwitterFeed takes any RSS feed and pushes it out as a series of Twitter posts, or tweets.
When you combine reQall with TwitterFeed, you simply call a number, talk, and hang up. What you said on the phone is broadcast over Twitter as a normal tweet. Sweet!
Also note that setting up these services for voice tweets doesn't replace the normal typing process for Twitter. You can still send tweets the old-fashioned way. It simply adds another option that you can use whenever you like.