1) God speaks to us through Scripture, visions, dreams, angels, circumstances He orchestrates, our conscience, wise counsel of believers, songs/hymns, and spiritual gifts.
2) To hear God's voice requires having faith, a clean heart through confession of sin, worshipping Him, and applying Christ's lordship to all areas of life.
3) Scripture commands believers to listen for God's voice in order to know His will, deepen our relationship with Him, and understand His character.