I assume you are using arduino-like device, which can be easily configured to output serial data over USB. See a tutorial on the subject.
USB is not as simple as legacy serial ports and USB devices will need drivers. Class compliant devices are usually supported directly by operating system, see USB device classes, at least to some extent.
For example, if you are using Arduino, the simple way is to install FTDI drivers (see their website) and use the virtual COM port provided by the driver.
Communication over a COM port is a well-covered subject and you should be able to find a vast number of documentation over that. There are also cross-platform serial communication libraries that could make your development easier.
Then you could also write your own library for the device, but that would probably be an overkill if all you want is to read in a voltage.