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I will look into this, but by my current understanding, you do not need to stake a block to vote. Unlock your wallet completely (uncheck the "For Staking Only"), go to the voting tab found on the left of the client, right click the poll, click vote, tick your choice, click vote -- 0.00041 GRC will be withdrawn from your wallet -- lock your wallet.

If you do not have any GRC, check a GRC faucet or post your address here and I'm sure someone will send you at least 0.00041 GRC to vote. = )

Beacon is now 2 months old and got enough to afford a vote, but not to stake frequently. Still waiting for my first reward :-)
I did fully unlock the wallet with staking only unchecked but the same error comes up:

[{"Command":"vote"},{"Error":"Sorry, When voting in a Both Share Type poll, your stake age Or your CPID age must be older than the poll duration."}]

execute beaconstatus is succesful, CPID is the same for all projects.

It appears that you do in fact need to stake a block before you can vote = (. Add this to the reasons to make it easier for low balance users to stake!

Ty @ravon for clearing this up.