Exodus 20:22

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

Nehemiah 9:13

Thou camest down also upon mount Sinai, and spokest with them from heaven, and gavest them right judgments, and true laws, good statutes and commandments:

Deuteronomy 4:36

Out of heaven he made thee to hear his voice, that he might instruct thee; and upon earth he showed thee his great fire; and thou heardst his words from the midst of the fire.

Hebrews 12:25-26

See that ye refuse not him that speaketh. For if they escaped not who refused him that spoke on earth, much more shall not we escape, if we turn away from him that speaketh 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
Out of heaven he made thee to hear his voice, that he might instruct thee; and upon earth he showed thee his great fire; and thou heardst his words from the midst of the fire.
Nehemiah 9:13
Thou camest down also upon mount Sinai, and spokest with them from heaven, and gavest them right judgments, and true laws, good statutes and commandments:
Hebrews 12:25
See that ye refuse not him that speaketh. For if they escaped not who refused him that spoke on earth, much more shall not we escape, if we turn away from him that speaketh from heaven:

General references

Genesis 17:22
And he ceased talking with him, and God went up from Abraham.
Deuteronomy 4:36
Out of heaven he made thee to hear his voice, that he might instruct thee; and upon earth he showed thee his great fire; and thou heardst his words from the midst of the fire.
Deuteronomy 5:4
The LORD talked with you face to face on the mount, from the midst of the fire,