Yes,
Look under "Other\Voice Attack Action\"
"Stop Another Command"
Will stop a specific command
"Stop Processing All Commands"
Will stop stop everything
Dont confuse these with Starting and Stopping of "Listening"; Restarting the command would simply be you doing what ever it was that you used to start it in the first place.
You could insert a pause using a "Wait" or "Pause" command though I dont recommend doing this as it starts getting complicated.
Try something like this;
Stop VoiceAttack command processing
Kill command, '((RS- Name))'
Pause 120 seconds
Execute command, '((RS- Name))' (and wait until it completes)