Can you hear God's voice? The Bible says His sheep can hear his voice?

The Bible is a book with many different styles of writing, not all of which are meant to be taken at face-value. This particular passage is referring to what is commonly called "spiritual intuition". We can "know" part of God's plan for our life because we "hear God's voice". Most of us do not audibly hear God, but we all can perceive His "still small voice". He leads us, convicts us, teaches us and fellowships with us. This can also manifest itself in the gift of discernment: listening to others and knowing if what they say is actually from God or against God.