Is there some way to have a book read to you online for free?

Yes, there are several websites that have audio books online for free.

The best place is librivox.org. They have over 3000 free audio books recorded by volunteers. All the audio books are in the public domain so they're all completely free to you, me, and everyone.

You can also use an aggregation website like librophile.com to search and download free audio books. You can scroll through the bookshelves easily plus they have images along side the book titles.

YouTube has thousands of online audio books! And they make the characters have different voices!