Humans are capable of perceiving their own thoughts due to the brain's ability to process and store experiences and sensory information. The cerebral cortex and structures like the hippocampus allow experiences to be stored as memories that can then be recalled, enabling humans to "hear" or see thoughts as if re-experiencing past events. This is due to different areas of the brain processing different types of information from our senses. Our thoughts are effectively involuntary recollections of memories shaped by our experiences.