The best solution: a real PC with a Voodoo card.
2nd best is Qemmu, I think or PCem perhaps.
Lockstock Dosbox does not yet have 3dfx support. There are patched versions however, but I'm not keeping track which actually do have it.

Dosbox ECE has it, just don't bother the main Dosbox devs with issues related to it. YP80 will be your prime contact as he maintains the fork.

I do commend DOSBOX-ECE for doing a good job of it but I can't help but feel like it's.. let me rephrase, I would rather stick to the official DOSBOX branch as these kinds of heavily patched branches tend to not end well.

For emulating a Voodo PC I've found PCem to be a much better choice, personally.

Just for curiosity, are there plans to include Voodoo emulation into the mainline Dosbox? 😜

There are but there are very few DOS games that require 3dfx to play the game and for those that offer both options it's debatable if 3dfx is the better option so it's not a high priority compared to supporting all the other DOS games that don't need it.

Also "the best" is subjective because there's always at least one that claim that fantasy unlocked timings doing 32-bit color in HD resolutions on a Voodoo Graphics through wrapping wrappers to play crappy 3dfx versions of Blood/Shadow Warrior for example, is "the best way" etc.