'....because those who are led by the Spirit of God are the sons of God' - Rom 8:14. It sums it all up.
'In the beginning was the Word...' everything that God had to say to us was in the person of Jesus-who he was, what he did and what he taught. Jesus is our perfect demonstration of our 'sonship' relationship - communication, obedience and submission to our Father, in love and for His glory.
As much as the bible is the word of God, knowing the bible on its own is of no value - because all scripture is spiritually discerned- 1 Cor 2:14.
The bible can never be a substitute for the indwelling word, it becomes of benefit only as an instrument of the Holy Spirit.
I dont know if there is anyone who can 'teach' another about hearing God, but rather we can only advise people to walk by the Spirit - because the Holy Spirit dwells in each believer. It is an individual choice to die to self and be alive to God -'not my will but Thy Will', then one will seek to hear Him always.
If we would hear and obey, then we become His instruments to manifest His will and work, so that, His Will, will be done one earth as it is in heaven - that truly would be the Kingdom of God fully come to earth!