Hi Brother bill
Audibly...
3 And as he journeyed, he came near Damascus: and suddenly there shined round about him a light from heaven:
4 And he fell to the earth, and heard a voice saying unto him, Saul, Saul, why persecutest thou me?
5 And he said, Who art thou, Lord? And the Lord said, I am Jesus whom thou persecutest: it is hard for thee to kick against the pricks.
6 And he trembling and astonished said, Lord, what wilt thou have me to do? And the Lord said unto him, Arise, and go into the city, and it shall be told thee what thou must do.
7 And the men which journeyed with him stood speechless, hearing a voice, but seeing no man.
(Paul heard the voice and so did the other men.)
The context is Paul's conversion, which all started from seeing the light and hearing the voice of God audibly.
Maybe a more notable occasion was the mount of Transfiguration.
Matt 17 4 Then answered Peter, and said unto Jesus, Lord, it is good for us to be here: if thou wilt, let us make here three tabernacles; one for thee, and one for Moses, and one for Elias.
5 While he yet spake, behold, a bright cloud overshadowed them: and behold a voice out of the cloud, which said, This is my beloved Son, in whom I am well pleased; hear ye him.
6 And when the disciples heard it, they fell on their face, and were sore afraid.
7 And Jesus came and touched them, and said, Arise, and be not afraid
Jesus and the other 3 heard the voice of God audibly.
And without getting technical at all... anytime Jesus spoke you were hearing the voice of God through the man Christ Jesus.
The Spirit of God
This voice is generally internal to the person.
1 jn 2:27 But the anointing which ye have received of him abideth in you, and ye need not that any man teach you: but as the same anointing teacheth you of all things, and is truth, and is no lie, and even as it hath taught you, ye shall abide in him.
The anointing here synonymous with the Holy Spirit.
and again,
John 14:26 But the Comforter, which is the Holy Ghost, whom the Father will send in my name, he shall teach you all things, and bring all things to your remembrance, whatsoever I have said unto you.
The Spirit teaching us is not merely a mental piecing-together of various bible texts to give some kind of coherency to scripture. The Spirit's teaching is revelation, power and enlightenment.
Branching out from this, the Spirit of God speaking to us uses the agency of the body of Christ.
This is where the Spirit of God manifests through us to others via verbalized words from God. They may come in the forms listed above.
The whole context of 1 cor 12-13-14 validates the ministry of speaking by the Spirit of God to one another.
( I will not quote the whole of that text here)
Angelic voice.
Acts 8:26
And the angel of the Lord spake unto Philip, saying, Arise, and go toward the south unto the way that goeth down from Jerusalem unto Gaza, which is desert
Acts 10:7
And when the angel which spake unto Cornelius was departed, he called two of his household servants, and a devout soldier of them that waited on him continually
I think this should be sufficient to disclose the various ways God speak to his people.
The common, normative way God speaks
Through internal revelations given by the Spirit of God Through reading the scriptures.
Through Preaching/teaching/exhorting/sharing our faith.
Through devotion and worship of the Lord
Through prayers, intercessions and ministering unto the Lord.
Now in Acts (whole chapter)
Where at least 4 different apostles spoke and gave counsel to one another, testimony and scripture principle so as to put to rest the issue of circumcision and the law.
There are many old testament texts but here is one that stands out for all of us here.
Romans 15:14 And I myself also am persuaded of you, my brethren, that ye also are full of goodness, filled with all knowledge, able also to admonish one another.
(admonish here is build up, counsel or edify)
The Romans text is meaningless if it is not ascribed to a working of the Spirit of God, because Paul's boldness is toward them for spiritual growth and maturity. Romans 15:5 Now the God of patience and consolation grant you to be likeminded one toward another according to Christ Jesus:
6 That ye may with one mind and one mouth glorify God, even the Father of our Lord Jesus Christ.
These and many other texts can be given toward encouraging one another in expecting the Spirit of God to speak in a variety of ways so that we may grow up into him in all things.