We do not literally hear God’s voice at this time of mankind’s history. In Old Testament times, man did hear God’s literal voice. Notable accounts include Adam (Gen. 3:9,10); Noah and his sons (Gen. 8:15,16; Gen. 9:8); Abram (Gen. 17:3,4); and Jacob (Gen. chapters 35 and 46). Later, God spoke to Moses (Ex 6:2), and the Israelites “heard His voice from the midst of the fire” (Deut. 5:24).
In New Testament times, though, when God’s beloved Son, Jesus, died for all mankind (I Tim. 2:5,6) and was resurrected, a new and living way (Heb. 10:20) was opened for His followers. Jesus called his disciples to “follow me” (Matt. 16:24). Throughout this age, God has been calling people to be saints and joint-heirs with him (1 Cor. 1:2,9; Eph. 4:4; Phil. 3:14; Rom. 8:17). We do not literally hear God calling us, but rather we comprehend God’s call through our understanding of Scripture. Eph. 1:17-19, “…God…may give unto you the spirit of wisdom and revelation in the knowledge of him: the eyes of your understanding being enlightened; that ye may know what is the hope of his calling…”
The Apostles had a very special place at the beginning of this age, and so they had revelations and visions which helped to establish the Church. After Jesus was resurrected, there was a necessity for him to appear to his disciples to convince them that he was alive and that their testimony would stand for generations (Luke 24:45-48; Acts 10:40-42). We study the Apostles’ words and accounts, and now we walk by faith. We do not rely on our natural sight or our natural hearing to understand God or to have a relationship with Him. Rather, it is by faith in Jesus that we have access to God. “So then faith comes by hearing, and hearing by the word of God.” (Rom. 10:17)
We study the Scriptures to increase our knowledge of God and to grow in faith (2 Pet. 1:2,3). We commune with God in prayer, and we watch for His leadings in our lives. This is how we “hear” Him. “Therefore, having been justified by faith, we have peace with God through our Lord Jesus Christ, through whom also we have access by faith into this grace in which we stand, and rejoice in hope of the glory of God.” (Rom. 5:1,2)