Short vocal warm-up for actors, led by Jeannette Nelson, Head of Voice at the National Theatre, London/England:
https://www.youtube.com/watch?v=CFXqyl4C1J4
Longer version in 4 parts:
https://www.youtube.com/watch?v=Tc-_hoG4nec (breathing)
https://www.youtube.com/watch?v=rBoOyCLlCcU (resonance)
https://www.youtube.com/watch?v=7_MvlGKwLh0 (opening up the voice)
https://www.youtube.com/watch?v=uRdFtrv2yGA (articulation)
I'd also recommend Jeannette Nelson's Voice Exercise Book and the books written by her predecessor, Patsy Rodenburg (who's one of the top voice teachers for actors and public speakers worldwide), especially The Right To Speak and The Second Circle (UK title: Presentation Power).