How does God speak? Does He have a physical voice? Not at all, but He pours forth oracles with a certain superior power than a physical voice could have. The prophets heard this voice; the faithful hear this voice, but the wicked do not understand. Finally, in the Gospel you have, because the evangelist heard Him saying: "And I have glorified, and will glorify again" (John 12:28); but the Jews did not hear. For they said: "It thundered" (Ibid., 29). So there, just as you have above, because God, who was perceived as walking, did not walk, so God, who did not speak, was heard speaking.
Source: On Paradise, Chapter 14.69