People in the Bible heard God.

Jesus said he only said what he heard from the Father, and only did what he saw the Father doing (John 5:19, 20, 30).

Jesus said, "My sheep hear my voice." (John 10:27) Jesus tells us that it's possible (maybe even normal) for us to live that way.

Habakkuk 2:1-2 - I will stand my watch and set myself on the rampart, and watch to see what He will say to me, and what I will answer when I am corrected. Then the Lord answered me and said: "Write the vision And make it plain on tablets, That he may run who reads it.
1. Stand my watch (to stand still) - Be still
2. Watch to see - (Fix my eyes on Jesus) - Look for Vision
3. He will say to me - Listen (tune to the Holy Spirit spontaneous, flowing thoughts)
4. Then the Lord answered me and said - (write the flow of thoughts and pictures that light upon your heart and mind) - evaluate later

4 Keys to Hearing the Voice of God
Mark's Virkler's How-to for Spirit-Anointed Living Podcast
Communion With God Ministries
Resources
Free Christian Books and Articles