I've heard people say, "God has spoken to me." In the OT there were prophets proclaiming what God said. Sometimes in the Bible God speaks audibly (e.g. to Samuel).
But today: in what way does God speak to people today?
God speaks through multiple ways. This includes everything from audible voices to suggestions from friends and family.
However, by far, the most common way that God speaks to us is through His Bible.
In fact, if we think that we're hearing God in any other way, we need to go to the Bible and verify that what we think he's saying actually lines up with his will.
And while oftentimes the bible isn't clear about some decisions (such as which car to buy), God will use the Holy Spirit to guide us. We need to listen with our ears, with our hearts, with our minds. But most of all, we need to listen to the Bible.
That's why it's so critical to read your Bible daily.
God has spoken to me in the past
These are listed in order of (exponential) increasing frequency, and are just what I've personally experienced.