Hi Bill,
Digital servo's will almost always have a kinda high pitch hum to them. The frequency of the pitch varies on different kinds of digital servo's too, but generally they are all high pitch humming sound. Its perfectly normal. You can get them to stop humming sometimes when there is absolutely no force on the output arms.. but they almost naturally hum even then.
As to draining voltage.. of course they are drawing some as they hum. I couldnt say how much without knowing how many servo's you are running and battery you are using to power them.. but they wont just drain your battery dry in a matter of minutes, as long as they are not working hard trying to stay at neutral, like with a binding linkage or too tight of rudder cables, etc.
Hope that helps, just make sure you check your batteries before and/or after each flight for awhile until you get to really know your system
