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Voluntary transactions are economic exchanges that occur between parties when both parties agree to participate in the exchange. Each party decides that the benefits of the transaction outweigh the costs, which results in a decision to carry out the exchange.

Consumer surplus is the difference between the maximum amount a consumer is willing to pay for a good or service and the actual price someone is willing to pay for it. This surplus represents the consumer's gain from the transaction. Likewise, producer surplus is the difference between the minimum price a producer would accept for a good or service and the actual price they receive for it. This surplus represents the producer's gain from the transaction.

Voluntary transactions lead to an efficient allocation of resources because each party acts according to their own preferences and values. When consumers and producers make voluntary decisions in a market with many buyers and sellers, the result is an equilibrium price and quantity. At this equilibrium, both consumers and producers are getting the highest possible surplus from the transaction. This is known as the "Pareto efficient" outcome – an allocation of resources where no individual can be made better off without making another individual worse off.

Social welfare, in this context, refers to the overall well-being of society. It is the sum of consumer surplus and producer surplus, which represent the benefits to participants in a voluntary transaction. No trade can take place unless both the consumer and the producer receive some level of surplus, and hence benefit from the transaction. When voluntary transactions occur in a competitive market with no externalities, the equilibrium outcome maximizes surplus, resulting in the highest overall level of social welfare. Voluntary transactions contribute to social welfare by allocating resources to their most valued use, improving the well-being of the consumer, the producer, and society as a whole. In conclusion, voluntary transactions improve social welfare because they lead to efficient allocations of resources and create a surplus for both consumers and producers. By satisfying the preferences of all parties involved, voluntary transactions contribute to the overall well-being of society.