Exodus 20:22

And Yahweh said to Moses, "Thus you will say to the {Israelites}, 'You yourselves have seen that I have spoken to you from the heavens.

Nehemiah 9:13

Then you came down on Mount Sinai and spoke with them from heaven and gave them right judgments and true teachings, good regulations and commandments.

Deuteronomy 4:36

From heaven he made you hear his voice to teach you, and on the earth he showed you his great fire, and you heard his words from the midst of the fire.

Hebrews 12:25-26

Watch out that you do not refuse the one who is speaking! For if those did not escape [when they] refused the one who warned [them] on earth, much less [will] we [escape], [if we] reject the [one who warns] from heaven,

Treasury of Scripture Knowledge

Summary

And the LORD said unto Moses, Thus thou shalt say unto the children of Israel, Ye have seen that I have talked with you from heaven.

Bible References

I have talked

Deuteronomy 4:36
From heaven he made you hear his voice to teach you, and on the earth he showed you his great fire, and you heard his words from the midst of the fire.
Nehemiah 9:13
Then you came down on Mount Sinai and spoke with them from heaven and gave them right judgments and true teachings, good regulations and commandments.
Hebrews 12:25
Watch out that you do not refuse the one who is speaking! For if those did not escape [when they] refused the one who warned [them] on earth, much less [will] we [escape], [if we] reject the [one who warns] from heaven,

General references

Genesis 17:22
When he finished speaking with him, God went up from Abraham.
Deuteronomy 4:36
From heaven he made you hear his voice to teach you, and on the earth he showed you his great fire, and you heard his words from the midst of the fire.
Deuteronomy 5:4
{Face to face} Yahweh spoke with you at the mountain from the midst of the fire.