The Torah mentions offerings that are voluntary, and that theoretically could come to include a burn-offering, but the Torah also specifies the burnt-offering so that the details of accompaniment are also learned (for example, the libations). And we see the halakhic hermeneutical principles of deriving the general, the specific, and the general — which concludes with a narrower application that one might have thought. Also, the specifics of offerings that indeed involve accompaniments –
Menahot 91: Specifying the Korban Olah (Burnt-Offering)
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