The way I usually hear God is through the bible which is why we are encouraged to read it.
Sometimes I have prayed and asked God about stuff, later that day I have read my bible and the answer is in what I have read.
At other times I will find myself in a situation and verses from the bible will come into my mind which are applicable.
Very occasionally I have heard Gods voice inside my head, but then I always ask God to confirm what he has said at this point and when it has been him saying it, the words are always confirmed, either through reading the bible or from what other people have said to me. Anything that isnt I just pass off as my own thoughts.