Using fivestar_get_votes() to show the votes on a node
Fivestar module for Drupal 7 implements fivestar as a field. Assuming the field name is field_fivestar_awesomeness you can print it anywhere with:

$fivestar = field_view_field('node', $node, 'field_fivestar_awesomeness');
print render($fivestar);


There are some display and language options, see more in the api docs.