As we get to know someone we experience them with all our senses. Similarly as we grow in relationship with God we experience him with all our senses.
What I've learned about hearing God is that you simply can't hear him, and be confident in his voice, without knowing his Word.
What does God sound like and how will I know if he is speaking to me?
Strong relationships are built on strong communication. This is true of our relationship with God as well.