John Eldredge has been a great help to me in learning to hear God's voice. Below is a quote from Wild at Heart. He goes into greater depth on the subject in Walking with God. -John
Revelation: Listening for His Voice 12/17/2009
"I have much more to say to you, more than you can now bear. But when he, the Spirit of truth, comes, he will guide you into all truth." (John 16:12–13)
There’s more that Jesus wants to say to you, much more, and now that his Spirit resides in your heart, the conversation can continue. Many good people never hear God speak to them personally for the simple fact that they’ve never been told that he does. But he does—generously, intimately. “He who belongs to God hears what God says” (John 8:47).
The man who enters by the gate is the shepherd of his sheep. The watchman opens the gate for him, and the sheep listen to his voice. He calls his own sheep by name and leads them out. When he has brought out all his own, he goes on ahead of them, and his sheep follow him because they know his voice . . . I am the good shepherd. (John 10:2–4, 11)
You don’t just leave sheep to find their way in the world. They are famous for getting lost, being attacked by wild animals, falling into some pit, and that is why they must stay close to the shepherd, follow his voice. And no shepherd could be called good unless he personally guided his flock through danger. But that is precisely what he promises to do. He wants to speak to you; he wants to lead you to good pasture. Now, it doesn’t happen in an instant. Walking with God is a way of life. It’s something to be learned; our ability to hear God’s voice and discern his word to us grows over time. As Brother Lawrence said it, we “practice the presence of God.”
(Waking the Dead , 102–3)