Exodus 20:22

Then said Yahweh unto Moses, Thus, shalt thou say, unto the sons of Israel, - Ye yourselves, have seen that out of the heavens, have I spoken with you.

Nehemiah 9:13

And, upon Mount Sinai, camest thou down, and spakest with them out of the heavens, - and gavest them just regulations, and faithful laws, good statutes and commandments.

Deuteronomy 4:36

Out of the heavens, he let thee hear his voice to instruct thee, - and, upon the earth, he let thee see his great fire, and his own words, thou didst hear out of the midst of the fire.

Hebrews 12:25-26

Beware, lest ye excuse yourselves from him that speaketh; for, if, they escaped not, who excused themselves from him who on earth was warning, how much less, shall, we, who from him that warneth from the heavens, do turn ourselves away:

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
Out of the heavens, he let thee hear his voice to instruct thee, - and, upon the earth, he let thee see his great fire, and his own words, thou didst hear out of the midst of the fire.
Nehemiah 9:13
And, upon Mount Sinai, camest thou down, and spakest with them out of the heavens, - and gavest them just regulations, and faithful laws, good statutes and commandments.
Hebrews 12:25
Beware, lest ye excuse yourselves from him that speaketh; for, if, they escaped not, who excused themselves from him who on earth was warning, how much less, shall, we, who from him that warneth from the heavens, do turn ourselves away:

General references

Genesis 17:22
And he left off speaking with him, - and God went up from Abraham.
Deuteronomy 4:36
Out of the heavens, he let thee hear his voice to instruct thee, - and, upon the earth, he let thee see his great fire, and his own words, thou didst hear out of the midst of the fire.
Deuteronomy 5:4
Face to face, spake Yahweh with you in the mount out of the midst of the fire,