You grow to appreciate it after a while. The only ones with voices like that, really, are Goku and Gohan. It's the emotion and sincerity in the voices. Japanese seiyu voice acting is taken much more seriously than it is here in the states. Plus, most importantly, we aren't really hearing the original story in the English dub. Many lines and plot elements are changed and tweaked around, and although we can understand what they're saying, the story, in many places, isn't the same. That's what most fans get tangled up with.
I don't mind the English dub, except in extreme cases, like Frieza or Bulma. The only seiyu I find truly superior to the English VAs are with characters like Vegeta, Bulma, Cell, Frieza, and Trunks. Tenshinhan and Yamcha sound much better in the Japanese audio, too, but they're okay in English.