S7 with what OS? Andriod 9? 10..??? there are a few options for that yes. do you just want them read when using the Bluetooth period or just when hands-free useage? just caller ID names or numbers and not notifications, reminders, alarms, messages, voicemails... ect?
do you use a service for call monitoring to scan for possible scams and stuff like oh what's that one.. hiyu??? something like that or through your carrier? and just the names of callers calling when they are a saved contact or all names, if available, for all incoming calls?
it is tricky to set up and work the way you want using the assisant and in the accesabilities permissions and the best way is using a third party app or service type like I posted about so I'd know if you need to download an app or just adjust the services. ... can search in the store "talking call ID", there are loads of free and paid ones, and most off them offer that specific feature even on their free or lite vs. easy set up, some need permissions some need the phone accessibility to run... not that it's a bad think but I'd suggest skipping those ones, I can give you a few suggestions to check out if you want? I can also walk you through how to set it up to work ok using the assisant if you really want to?