In this podcast, Carlos Taylor gives a walk-through of how to restore a single file from a Time Machine backup using VoiceOver.
Note: In macOS Ventura, rather than locating a backup by interacting with a slider, each backup is represented by a button in the timeline controls window; clicking this button selects the backup. Aside from that minor change, the process is still largely the same as it was at the time this podcast was recorded.
Written steps for how to do this are as follows: