http://bigfinish.com/Doctor-Who - they've been doing it for a little over 10 years, with stories featuring the 5th, 6th, 7th, and 8th Doctors with original companions (Nyssa, Turlough, recently Tegan, Peri, Mel, and Ace) and some new ones created for each Doctor. Most are done in the classic series style, as 4 25-minute episodes distributed as a 2-cd set (and are also available as downloads).
Some classic villains have returned, often played by classic series actors (Terry Malloy as Davros, for example). Daleks and Cybermen are all voiced by writer-director-producer Nick Briggs, who also does their voices for the current TV series.
There's now almost 135 core stories, plus 3 seasons of single-hour stories done for BBC Radio 7 featuring Doctor 8 (these are done more like the modern tv series is), and a number of specials, first person narratives from companions, spinoffs involving only companions or villains (Daleks, Davros, or Cybermen), and even a set of alternate universe stories.
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Some classic villains have returned, often played by classic series actors (Terry Malloy as Davros, for example). Daleks and Cybermen are all voiced by writer-director-producer Nick Briggs, who also does their voices for the current TV series.
There's now almost 135 core stories, plus 3 seasons of single-hour stories done for BBC Radio 7 featuring Doctor 8 (these are done more like the modern tv series is), and a number of specials, first person narratives from companions, spinoffs involving only companions or villains (Daleks, Davros, or Cybermen), and even a set of alternate universe stories.