It's true that in Bible times God spoke occasionally to people in an audible voice (although it wasn't common). And occasionally He still may do so (especially to people who live in places where the Bible is unknown).
But we don't need to wait for God to speak to us in a voice we can hear -- because He has already recorded His words for us in the Bible. God is not silent; He has told us everything we need to know about Him -- and it's been written down in the pages of the Bible. In other words, we don't need to wait around, hoping God may decide to speak to us some day. All we need to do is open the Bible and discover the message He has for us.
What is His message? First, He wants to tell us that He is real, and that He created us so we can know Him and have a personal relationship with Him. He also wants to tell us that He loves us. In fact, He loves us so much that 2,000 years ago He came to live among us in the person of Jesus Christ, who gave His life for us. In addition, He wants us to know that we can be His children, and can live with Him forever by committing our lives to Jesus.
By faith commit your life to Christ. Then make the Bible the foundation of your faith -- for through its pages you'll discover God's truth for yourself. The Bible says, "All your words are true; all your righteous laws are eternal" (Psalm 119:160).