There isThe previous answer could be applied also using the focal statistics way. Somethingraster calculator, by writing something like:
Con(IsNull("your_raster_with_voids"), FocalStatistics("your_raster_with_voids", NbrRectangle(4,4,"CELL"), "MEAN"),"your_raster_with_voids")
used in the raster calculator.
You could change NbrRectangle and MEAN to find different solutions. I tried to use NbrCircle and MINIMUM instead, but I never got satisfying results.