Voice VLAN's (or auxiliary VLAN's) are simply access-ports that have an un-tagged access VLAN and one tagged VLAN (the voice VLAN). In addition to this Cisco switches advertise the Voice VLAN via CDP so Cisco IP Phones can use this VLAN. The following configurations would give the same result:
interface fastethernet0/1
switchport mode trunk
switchport encapsulation dot1q
switchport trunk native vlan 10
switchport trunk allowed vlan 10,100
!
interface fastethernet0/1
switchport mode access
switchport access vlan 10
switchport voice vlan 100
The newer Mitel phone firmware supports the CDP detection of the Voice VLAN. For the earlier firmware phones they initially transmit packets without any tagging but should receive via DHCP a vendor-specific option for the VLAN id. They then restart using the VLAN tag.
I have used the Cisco Voice VLAN feature with Mitel IP Phones but the QoS settings need tweaking due to the differences between the Mitel & Cisco implementations.
Good luck
Andy