I don't have any answers, but can say I've just started trying meditation after reading about it for years. I was directed towards the headspace app (headspace.com) and have been doing the introductory "take 10" program for a week and love it so far. Would highly recommend checking it out.
It's not 'pleasant' enough for that, plus I'm not sure this 'ASMR' thing works with voices.
Rather, it's a combination of his accent and the 'meditation voice' thingy that just makes it sound nice to me. His voice is meditative enough to not feel like it interrupts, but "blokeish" (a certain British accent, I guess) and distinct enough that it doesn't feel too high-falutin and triggers my still rather primed anti-everything-new-agey senses.
* ps, i have no affiliation with headspace