Exodus 20:22

And Jehovah saith unto Moses, 'Thus dost thou say unto the sons of Israel: Ye -- ye have seen that from the heavens I have spoken with you;

Nehemiah 9:13

'And on mount Sinai Thou hast come down, even to speak with them from the heavens, and Thou dost give to them right judgments, and true laws, good statutes and commands.

Deuteronomy 4:36

'From the heavens He hath caused thee to hear His voice, to instruct thee, and on earth He hath shewed thee His great fire, and His words thou hast heard out of the midst of the fire.

Hebrews 12:25-26

See, may ye not refuse him who is speaking, for if those did not escape who refused him who upon earth was divinely speaking -- much less we who do turn away from him who 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
'From the heavens He hath caused thee to hear His voice, to instruct thee, and on earth He hath shewed thee His great fire, and His words thou hast heard out of the midst of the fire.
Nehemiah 9:13
'And on mount Sinai Thou hast come down, even to speak with them from the heavens, and Thou dost give to them right judgments, and true laws, good statutes and commands.
Hebrews 12:25
See, may ye not refuse him who is speaking, for if those did not escape who refused him who upon earth was divinely speaking -- much less we who do turn away from him who speaketh from heaven,

General references

Genesis 17:22
and He finisheth speaking with him, and God goeth up from Abraham.
Deuteronomy 4:36
'From the heavens He hath caused thee to hear His voice, to instruct thee, and on earth He hath shewed thee His great fire, and His words thou hast heard out of the midst of the fire.
Deuteronomy 5:4
Face to face hath Jehovah spoken with you, in the mount, out of the midst of the fire;