(Unless he speaks from behind a veil)
it was not (vouchsafed) to any mortal that Allah should speak to him unless (it be) by revelation or from behind a veil, or (that) He sendeth a messenger to reveal what He will by His leave. Quran 42:51
He spoke to Mary, the mother of Jesus
We sent unto her Our Spirit and it assumed for her [Mary, the mother of Jesus] the likeness of a perfect man. 19:17
He spoke to Miriam, the mother of Moses
We [Allah] inspired the mother of Moses, saying: Suckle him and, when thou fearest for him, then cast him into the river and fear not nor grieve. ... He said: I am only a messenger of thy Lord, that I may bestow on thee a faultless son. She said: How can I have a son when no mortal hath touched me, neither have I been unchaste? He said: So (it will be). Thy Lord saith: It is easy for Me. 28:7
He spoke to Jesus's disciples.
When I [Allah] inspired the disciples, (saying): Believe in Me and in My messenger, they said: We believe. Bear witness that we have surrendered (unto Thee) "we are muslims". 5:111
He spoke to the angels, telling them to worship Adam.
We said unto the angels: Prostrate yourselves before Adam, they fell prostrate, all save Iblis. He demurred through pride, and so became a disbeliever. 2:34
And sometimes he even speaks to animals, telling the bees where to live, for example.
Thy Lord [Allah] inspired the bee, saying: Choose thou habitations in the hills and in the trees and in that which they thatch; 16:68
