God speaks to us in so many ways. In the beginning, Adam and Eve spoke to God directly. They heard his voice in the garden of Eden. Similarly, Moses heard God's voice in the burning bush. God spoke with him and guided him throughout his journey out of Egypt. Even Abraham heard God's voice. God spoke to him and gave him so many promises and fulfilled them at the right time.
God speaks through Angels
Angels are messengers of God. They convey the messages of God. Mary the mother of Jesus was surprised by Angel Gabriel who announced to her the birth of Jesus the Messiah. The same Angel conveyed the message of the birth of John the Baptist to Zechariah.
In acts 10, we read about Cornelius a centurion who prayed to God regularly. One day an Angel of the Lord appeared to Him and said, " Your prayers and gifts to the poor have come up as a memorial offering before God."
Like wise, God sends His messengers to convey His messages.
Through Visions and Dreams
Acts 2:17 says," I will pour out my spirit on all flesh, your young men will see visions, your old men shall dream dreams."
Yes! God speaks to us through dreams or visions. The three wise men who came to visit baby Jesus were warned in a dream to go back in another way because Herod was planning to harm the child.
Similarly God spoke to Joseph through dreams about his future.
Even today, God speaks to us through dreams and guides us.
John 6:63 says," The Spirit gives life; the flesh counts for nothing. The words I have spoken to you—they are full of the Spirit and life."
Today, mostly God speaks to us through His word. When we read the Bible, He gives us His word which may correlate to our present situations. They can comfort us, bring us joy, guide us or warn us.
Romans 8:26 says," Likewise the Spirit helps us in our weakness. For we do not know what to pray for as we ought, but the Spirit himself intercedes for us with groanings too deep for words."
Sometimes we can hear people say, " I've got peace regarding this situation." When Holy Spirit guides us, we will never lose our path. God will keep guiding us each step of our lives through the spirit. In order to receive the Holy Spirit we need to accept Jesus Christ as our personal saviour. When we open our hearts, we let God take control of our lives. He will speak to us every day.
Apart from these, God also speaks to us through our circumstances, problems, people around us, media, experiences and so on. We just have to heed attention to what God is trying to teach us. When we keep our mind on listening to God's voice more than the world's, we surely can hear Him speak in our hearts.
Open your hearts and ask God for a clear conscience to hear His voice.