^ Okay, here's my take on that.
THE CREW:
Archer - Inconsistently written, but clearly improved toward the end. Not likable at times.
Janeway - Inconsistently written throughout the entire series. Not likable many times.
Archer wins. ENT = 1, VOY = 0
T'Pol - An interesting character that presented a view on Vulcans we hadn't seen before. And, she was drop dead sexy.
Chakotay - Who? Oh,
Voyager's First Officer. Well.... .... .... .... he knew how to fill that chair next Janeway very well.
T'Pol wins. ENT =2, VOY = 0
Trip - An alright guy, but way too "honkey tonk" for my tastes.
B'Elanna - Fiesty, spirited, and, yet, damaged and fragile underneath her "tough girl" exterior. She also received a fair amount of development.
I think Trip is the better "engineer," but B'Elanna is the better overall character. B'Elanna wins. ENT = 2, VOY =1
Phlox - Optismistic, fun-loving, and kind. However, he practices these traits in moderation. He's not sickeningly-sweet. What Neelix should have been.
The Doctor - Awesome! What else is there to say?
Phlox and The Doctor tie. ENT = 3, VOY = 2
Mayweather - Who? Oh,
Enterprise's Helmsman. Well.... .... .... .... he knew how to fill that chair in front of Archer very well.
Paris - Excellent character who received a good amount of development. He started out as the ship's rebel and became an upright family man.
Paris wins. ENT = 3, VOY = 3
Reed - Awesome character who would do whatever it took to protect his ship and crewmates. It's a shame he didn't get more development.
Tuvok - Awesome character who would do whatever it took to protect his ship and crewmates, only he did it logically.

Again, a shame he didn't get more development.
Reed and Tuvok tie. ENT = 4, VOY = 4
Sato - An interesting character who received a little development. And, she was unbelieveably beautiful.
Kim - Who? Oh,
Voyager's Ops Officer. Well.... .... .... .... who?
Sato wins. ENT = 5, VOY = 4
Seven of Nine - An excellent character who added a lot to the show, was unbelieveably sexy, and received a great deal of development.
Kes - An interesting character who didn't receive the level of development she deserved.
Neelix - Why, oh why was this character included in the show?!

He added nothing and was nothing - NOTHING - but annoying. They had the perfect chance to kill him off in
Mortail Coil; they could have even let him kill himself and save everyone the trouble. But instead they kept him.
Enterprise had no characters to compare to these three. So, Seven and Kes each add a point for
Voyager. However, Neelix negates both of them. So.... ENT = 5, VOY = 4
THE PLOT:
Enterprise - Humanity's first steps into interstellar exploration and the founding of the Federation. Absolutely excellent idea! The first two seasons really f#cked this up. The third season sort of healed some of the wounds. The final season finally fixed them.
Voyager - Starfleet and Maquis crew are forced to work together to get home from the other side of galaxy. Absolutely excellent idea! However, they royally f#cked this up by having next to no conflict between the Starfleet and Maquis crews.
Enterprise wins, in a very close race, just on the sheer awesomeness of its fourth season. ENT = 6, VOY = 4
THE VILLIANS:
Enterprise - The Suliban. The Xindi. The Romulans. The whole Temporal Cold War concept was ill-advised, ill-suited for a prequel series, and ill-executed. The Xindi were much better. However, they suffer from the facts that the Xindi Arc was part of the Temporal Cold War and that we had never heard one word about them in the entire 24 seasons of Trek previously viewed. The Romulans were the villians
Enterprise needed from the beginning. It's shame they were used so little.
Voyager - The Kazon. The Borg. The Kazon were just awful and laughable. Period. The Borg were defanged, yes. But, I chalk that up to bad writing.
Deep Space Nine showed, with the Dominion, that a constantly used villian can work, with good writing. I personally have no problem with using the Borg over and over again.
Voyager wins, in a VERY close race, just because
Enterprise suffered from ill-conceived villians until it was too late. ENT = 6, VOY = 5
So,
Enterprise wins the day. And like you said
Mach5, if the show had been allowed to continue, it would have easily left Voyager in the dust.