This paper establishes expectation and variance asymptotics for statistics of the Poisson--Voronoi approximation of general sets, as the underlying intensity of the Poisson point process tends to infinity. Statistics of interest include volume, surface area, Hausdorff measure, and the number of faces of lower-dimensional skeletons. We also consider the complexity of the so-called Voronoi zone and the iterated Voronoi approximation. Our results are consequences of general limit theorems proved with an abstract Steiner-type formula applicable in the setting of sums of stabilizing functionals.