Here's the answer:
We hear God's voice when we read the Bible, and He speaks to us through the people and things He places in our lives.
In the Bible, we read about people who heard God talking to them out loud—they heard His voice with their own ears! Today, God talks to us through the Bible. The Bible is God's words written down for us. It's like a letter to each of us so we can understand who God is and what He wants to tell us. We need to spend lots of time reading the Bible and praying to God about our questions and our concerns. We need to thank Him for all that we are grateful for. Then we will begin to feel like God is really talking to us, even though we don't hear him with our ears.
God also speaks to us by giving other people, like pastors and teachers, words He wants us to hear. He also talks to us through the things that happen in our lives. The Bible, people, and circumstances help us understand what God wants us to know, what He wants us to think about, and what He wants us to do.
"My sheep listen to my voice. I know them, and they follow me" (John 10:27).
"God has breathed life into all of Scripture. It is useful for teaching us what is true. It is useful for correcting our mistakes. It is useful for making our lives whole again. It is useful for training us to do what is right" (2 Timothy 3:16).