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VoxelShop?
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Voxelshop is now open source under the Apache License. It's Java so not my cup of tea, but perhaps others will find the code useful or want to contribute.
I'm afraid I don't have much experience with Blender so I can't help you with this, I was just pointing out that in theory it is possible. But it depends on other factors, such as how MagicaVoxel exports its .obj file. For example, does it export a list of cubes or one big mesh? Does it share vertices between faces and does it do greedy meshing? You'll need to do some experimenting and have experience with Blender to work this out.
Alternatively, I've just remember there is another voxel editor you might want to check out. It's called VoxelShop and I think is already supports textures and/or per-face materials? Again I don't have any real experience with it.
Another free alternative: VoxelShop
Unlike MagicaVoxel, Voxelshop does mesh simplication (to reduce polycount on your voxel models), and has some other cool features that MagicaVoxel doesn't (layers!)