To add to this, famous actors are media consumers themselves. They may choose to go on a show because they're fans of the show and/or the cameo sounds like a fun time. Futurama cameos are particularly fascinating, because they allow actors to play themselves in a very surreal context, and if celebrities have a friend who tells them that the behind-the-scenes atmosphere is a lot of fun, that can be enough.

Just as an example, if you're not aware, Danny DeVito produced, directed, and starred in Matilda pretty much because he wanted to adapt a book his daughters liked.

Also voice work is an easy gig for actors. No need to spend hours in makeup or costume, don't need to wait around for lighting and whatnot. You can just show up, play around with other actors and then go home again.