You can download iFunBox and transfer over the files. I don't like iTunes for Voice Memos. Doesn't work well at all. Or in Voice Memos you can Message it, Email it or Add it to iCloud Drive. Then you can access it on your computer.
You may have to play with the file similar to how you make custom ringtones. To make a ringtone you convert your clipped .mp3 to AAC and then rename the .m4a extension to .m4r (I think that correct, it's been a while since I've made one)
I don't know what file type voice memos use, so you may have to google that part.
*This is all guess a guess and not tested if it would actually work for voice memos.