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I could show up at your doorstep, declare myself at your service, and then spend the rest of my days catering to your every beck and whim. There's no law against that. Can it even be slavery if it's voluntary?

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That's not slavery, because you only declare yourself at my service, but you never sign a contract giving your rights away in exchange for something. That's the part you cannot do, regardless of whether it's voluntary.

IANAL, but I think there are three aspects to this which should be teased-apart:

1. Contract terms that require committing a crime are void and unenforceable.

2. "A contract made me do it" is not a defense to a crime.

3. "The victim gave me permission" is not always a defense to a crime.

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