When Jesus was transfigured:
While he was still speaking, a bright cloud enveloped them, and a voice from the cloud said, "This is my Son, whom I love; with him I am well pleased. Listen to him!" Then a cloud appeared and enveloped them, and a voice came from the cloud: "This is my Son, whom I love. Listen to him!" A voice came from the cloud, saying, "This is my Son, whom I have chosen; listen to him." When the voice had spoken, they found that Jesus was alone. The disciples kept this to themselves, and told no one at that time what they had seen. Matt 17:5; Mk 9:7; Lk 9:35,35

"Now my heart is troubled, and what shall I say? 'Father, save me from this hour'? No, it was for this very reason I came to this hour. Father, glorify your name!" Then a voice came from heaven, "I have glorified it, and will glorify it again." The crowd that was there and heard it said it had thundered; others said an angel had spoken to him. Jesus said, "This voice was for your benefit, not mine. John 12:27-30

Right before Jesus died:
About the ninth hour Jesus cried out in a loud voice, "Eloi, Eloi, lama sabachthani?"–which means, "My God, my God, why have you forsaken me?" And at the ninth hour Jesus cried out in a loud voice, "Eloi, Eloi, lama sabachthani?"–which means, "My God, my God, why have you forsaken me?" Jesus called out with a loud voice, "Father, into your hands I commit my spirit." When he had said this, he breathed his last. Matt 27:46; Mk 15:34; Lk 23:46

"I am the good shepherd; I know my sheep and my sheep know me-- just as the Father knows me and I know the Father--and I lay down my life for the sheep. I have other sheep that are not of this sheep pen. I must bring them also. They too will listen to my voice, and there shall be one flock and one shepherd. The reason my Father loves me is that I lay down my life--only to take it up again.        My sheep listen to my voice; I know them, and they follow me. I give them eternal life, and they shall never perish; no one can snatch them out of my hand. My Father, who has given them to me, is greater than all ; no one can snatch them out of my Father's hand. I and the Father are one." John 10:14-17; 27-30

But when they arrest you, do not worry about what to say or how to say it. At that time you will be given what to say, for it will not be you speaking, but the Spirit of your Father speaking through you. Matt 10:19-20

But when He, the Spirit of Truth, comes, He will guide you into all truth. He will not speak on His own; He will speak only what He hears, and He will tell you what is yet to come. He will bring glory to me by taking from what is mine and making it known to you. All that belongs to the Father is mine. That is why I said the Spirit will take from what is mine and make it known to you.  John 16:13-15

And he said, Go forth, and stand upon the mount before the LORD. And, behold, the LORD passed by, and a great and strong wind rent the mountains, and brake in pieces the rocks before the LORD; but the LORD was not in the wind: and after the wind an earthquake; but the LORD was not in the earthquake:        And after the earthquake a fire; but the LORD was not in the fire: and after the fire a still small voice.  And it was so, when Elijah heard it, that he wrapped his face in his mantle, and went out, and stood in the entering in of the cave. And, behold, there came a voice unto him, and said, What doest thou here, Elijah? 1Kings19:11-13

One night Eli, whose eyes were becoming so weak that he could barely see, was lying down in his usual place. The lamp of God had not yet gone out, and Samuel was lying down in the temple of the LORD , where the ark of God was. Then the LORD called Samuel. Samuel answered, "Here I am." And he ran to Eli and said, "Here I am; you called me." But Eli said, "I did not call; go back and lie down." So he went and lay down. Again the LORD called, "Samuel!" And Samuel got up and went to Eli and said, "Here I am; you called me." "My son," Eli said, "I did not call; go back and lie down." Now Samuel did not yet know the LORD : The word of the LORD had not yet been revealed to him. The LORD called Samuel a third time, and Samuel got up and went to Eli and said, "Here I am; you called me." Then Eli realized that the LORD was calling the boy. So Eli told Samuel, "Go and lie down, and if he calls you, say, 'Speak, LORD , for your servant is listening.' " So Samuel went and lay down in his place. The LORD came and stood there, calling as at the other times, "Samuel! Samuel!" Then Samuel said, "Speak, for your servant is listening." And the LORD said to Samuel: "See, I am about to do something in Israel that will make the ears of everyone who hears of it tingle. …"

Now there was a man in Jerusalem called Simeon, who was righteous and devout. He was waiting for the consolation of Israel, and the Holy Spirit was upon him. It had been revealed to him by the Holy Spirit that he would not die before he had seen the Lord's Christ.  Moved by the Spirit, he went into the temple courts. When the parents brought in the child Jesus to do for him what the custom of the Law required,  Simeon took him in his arms and praised God, saying: "Sovereign Lord, as you have promised, you now dismiss your servant in peace. For my eyes have seen your salvation, which you have prepared in the sight of all people, a light for revelation to the Gentiles and for glory to your people Israel." The child's father and mother marveled at what was said about him. Then Simeon blessed them and said to Mary, his mother: "This child is destined to cause the falling and rising of many in Israel, and to be a sign that will be spoken against, so that the thoughts of many hearts will be revealed. And a sword will pierce your own soul too." There was also a prophetess, Anna, the daughter of Phanuel, of the tribe of Asher. She was very old; she had lived with her husband seven years after her marriage, and then was a widow until she was eighty-four. She never left the temple but worshiped night and day, fasting and praying. Coming up to them at that very moment, she gave thanks to God and spoke about the child to all who were looking forward to the redemption of Jerusalem.  Luke 2:25-38

Jesus calls out to us:

When he had said this, Jesus called in a loud voice, "Lazarus, come out!" John 11:43             Instruction (coming later)

All people will hear God voice - 

"I tell you the truth, whoever hears My Word and believes Him who sent me has eternal life and will not be condemned; he has crossed over from death to life. I tell you the truth, a time is coming and has now come when the dead will hear the voice of the Son of God and those who hear will live. For as the Father has life in Himself, so He has granted the Son to have life in Himself. And He has given him authority to judge because He is the Son of Man. "Do not be amazed at this, for a time is coming when all who are in their graves will hear his voice and come out--those who have done good will rise to live, and those who have done evil will rise to be condemned. John 5:24-29

But the Counselor, the Holy Spirit, Whom the Father will send in My Name, will teach you all things and will remind you of everything I have said to you. John 14:26        "If you love me, you will obey what I command. And I will ask the Father, and he will give you another Counselor to be with you forever-- the Spirit of truth. The world cannot accept him, because it neither sees him nor knows him. But you know him, for he lives with you and will be in you. I will not leave you as orphans; I will come to you. Before long, the world will not see me anymore, but you will see me. Because I live, you also will live. On that day you will realize that I am in my Father, and you are in me, and I am in you. Whoever has my commands and obeys them, he is the one who loves me. He who loves me will be loved by my Father, and I too will love him and show myself to him."
Then Judas (not Judas Iscariot) said, "But, Lord, why do you intend to show yourself to us and not to the world?"
Jesus replied, "If anyone loves me, he will obey my teaching. My Father will love him, and we will come to him and make our home with him. He who does not love me will not obey my teaching. These words you hear are not my own; they belong to the Father who sent me. "All this I have spoken while still with you. But the Counselor, the Holy Spirit, whom the Father will send in my name, will teach you all things and will remind you of everything I have said to you. Peace I leave with you; my peace I give you. I do not give to you as the world gives. John 14:15-27

How does God interact with other people?