The question of a 5 year old

Today, my 5 year old daughter asked me, "Mommy, why can't we hear God. It would seem much easier to do things if we could hear Him."

I said we can hear Him, in the Gospels, Epistles, Sacred Scripture, The Church, those in authority often speak for God. We can hear Him if we are quiet.

I was a little dissatisfied with my answer, even though I do believe it was a true answer. I concur with the 5 year old, though. It would be easier if he just spoke to us out loud. For some reason, He chose other meathods. How do you hear God?