It's semantics, really. Run the server executable on any computer in your house. Done. If you don't leave your computer on 24/7, the Mumble server isn't up 24/7. Oh well. If you use it to talk to friends, you'll presumably have your computer on when you want to use it yourself anyway.
I ran it on a Raspberry Pi (I think first or second gen) for a few years.
It requires next to no CPU time, since the server is effectively just a packet relay.