Voiced sounds are made by vibrating your vocal folds, and voiceless sounds are made by not vibrating the folds. Try this: put your fingers on your throat over your larynx (your voice box) and hum. You should feel your vocal folds vibrating. That's what voiced-sounds like [d] do. Now, to make a voiceless sound, slowly and steadily blow air out of your mouth, this time without making a sound. That is stop your folds from vibrating. You should hear only air passing through your throat. That's what voiceless-sounds like [t] do.
Now, to get a feel for the distinction in voice, alternate between [d] and [t]. Those two sounds share the same place of articulation. They differ only in voicing (Note, be careful not to add a vowel sound to [t] as that will produce a voiced sound. Vowels are voiced). There should be a recognizable puff of air that flows through your mouth with [t], not so recognizable with [d]. Arabic has these sounds, so you should be able to feel the distinction in voice, at least with those pairs.
To produce [p], follow the same steps as you did in becoming aware of the distinction in voice with [d] and [t]. The sounds [p] and [b] share the same place of articulation. They differ only in voicing. With [p] there is recognizable puff of air, with [b] the puff is minimal. Try these pairs: