Is the word voar the same in Brazilian and European Portuguese?

Yes

The word "voar" is identical in meaning, spelling, and grammar in both Brazilian and Continental Portuguese. The only difference is in pronunciation. Brazilian Portuguese tends to have more open vowels and a more varied "r" (which can be retroflex or aspirated depending on the region), whereas Continental Portuguese features more closed or reduced vowels and a more subtle alveolar "r".

Brazilian Portuguese

1. Os pássaros começaram a voar ao amanhecer. (The birds started to fly at dawn.)
2. O tempo está voando muito rápido. (Time is flying very fast.)
3. Eu quero voar um avião. (I want to fly a plane.)
4. Minha mente vive voando longe. (My mind is always flying far away.)
5. O drone voa bem alto. (The drone flies very high.)

Continental Portuguese

1. Os pássaros começaram a voar ao amanhecer. (The birds started to fly at dawn.)
2. O tempo está a voar muito depressa. (Time is flying very fast.)
3. Eu quero pilotar um avião. (I want to pilot a plane.)
4. A minha mente vive a voar longe. (My mind is always flying far away.)
5. O drone voa bastante alto. (The drone flies quite high.)