Stream to voice channels from video encoding platforms (OBS, etc.)

I enjoy streaming to my friends while we’re chilling, but I want to use overlays like my webcam and also have game chat. Currently my work-around is to use OBS classic, stream virtual cam, and choose virtual cam in discord so that my screen and webcam output are captured but there isn’t any game audio. I like streaming on discord because my only audience is my friends and discord has no delay at all compared to twitch or YT. Probably because there isn’t any encoder. Maybe just allow overlays on stream when streaming to a voice channel?