Exodus 20:22

And Jehovah will say to Moses, Thus shalt thou say to the sons of Israel, Ye saw that from the heavens I spake with you.

Nehemiah 9:13

And upon mount Sinai thou camest down, and speaking with them from the heavens, and thou wilt give to them right judgments, and laws of truth, good laws and commands

Deuteronomy 4:36

Out of the heavens he caused thee to hear his voice to instruct thee: and upon earth he caused thee to see his great fire, and thou heardest his words from the midst of the fire.

Hebrews 12:25-26

See that ye refuse not him speaking. For if they escaped not, having refused him giving an intimation of the divine will on earth, much more we, who having turned back from him from the heavens:

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 caused thee to hear his voice to instruct thee: and upon earth he caused thee to see his great fire, and thou heardest his words from the midst of the fire.
Nehemiah 9:13
And upon mount Sinai thou camest down, and speaking with them from the heavens, and thou wilt give to them right judgments, and laws of truth, good laws and commands
Hebrews 12:25
See that ye refuse not him speaking. For if they escaped not, having refused him giving an intimation of the divine will on earth, much more we, who having turned back from him from the heavens:

General references

Genesis 17:22
And he will finish speaking with him, and God will go up from Abraham.
Deuteronomy 4:36
Out of the heavens he caused thee to hear his voice to instruct thee: and upon earth he caused thee to see his great fire, and thou heardest his words from the midst of the fire.
Deuteronomy 5:4
Face to face Jehovah spake with you in the mount out of the midst of the fire.