As I discussed in this blog post, I've been on a journey of desiring and seeking to hear God's "voice", and this book by Pete Greig was one of the primary resources that I've drawn from. The subtitle describes the book well: it is "a simple guide for normal people". Its focus is practical and straightforward advice on how to hear from God. It doesn't spend much time defending the possibility of hearing from God, it mostly just jumps into the practical "how-to".
The two main sections of the book are titled "vox externa" and "vox interna", which mean "external voice" and "internal voice". In the external voice section he discusses hearing from God through the bible and through prophecy. In the internal voice section he covers hearing God through his "whisper" (i.e. God communicating straight to us in our minds), visions, dreams, and a final chapter in which he crams hearing God through "community, creation, and culture". (It seems to me that "community, creation, and culture" would fit better in the "external voice" section, but it doesn't really matter.)
If images of psychosis or manipulation come to mind when you think of people who claim to hear from God, Greig does a great job showing you can approach the topic in a very level-headed and grounded way. Along the way he provides a number of boundaries, cautions, and grids to filter potential communications from God through. For example, we must always ask if the message lines up with the life and teaching of Jesus, as well as the bible in general. He also fully affirms that the more dramatic the potential message is the more hesitant we should be and the more confirmations we should look for. That is, if you feel God nudging you to pray for someone you might as well do it because there is very little to lose, but if you sense God telling you to move to the other side of the planet that is a message you should be slow to fully accept and be sure to "test it" by talking to wise friends, praying more, etc.
On the cover is a quote from John Mark Comer (a source I respect) in which he says "The best book I have ever read on the most important thing you will ever do." He has a point: if there is even a chance that God wants to communicate to us, surely learning to hear Him is one of the most important things we could do! And yes, this is a good book on the subject! It won't go down in history as a literary masterpiece, but as a book of practical advice I think you'll find it quite helpful.