Yes.  God does speak to His children today and will as long as this earthly life exist.  "God who at sundry times and in divers manners spake in time past unto the fathers by the prophets, Hath in these last days spoken unto us by his Son, whom he hath appointed heir of all things, by whom also he made the worlds" (Hebrews 1:1-2).  "Jesus Christ the same yesterday, and to day, and for ever" (Hebrews 13:8).  These Scriptures make it clear that God has chosen in these last days to speak to His people through His Word (Yeshua).

Although, God uses many methods to speak to us and the following are just a few examples of what the Bible reveals:
                         
(Audible Voice) - Adam and Eve "heard the voice of the LORD God walking in the garden in the cool of the day..." (Genesis 3:8).  God spoke to Samuel in an audible voice also, "Now the LORD had told Samuel in his ear a day before Saul came, saying..." (I Samuel 9:15).  When Saul (Apostle Paul) was on his way to Damascus, he heard the Lord say, "...Saul, Saul, why persecutest thou me" (Acts 9:4)?

(Personal Appearance) - Abraham saw the Lord in person at Mamre, "And the LORD appeared unto him in the plains of Mamre: and he sat in the tent door in the heat of the day" (Genesis 18:1).

(Angels) - God sends His angels on many occasions to deliver a divine message.  Mary spoke with an angel of the Lord, "And in the sixth month the angel Gabriel was sent from God unto a city of Galilee, named Nazareth, To a virgin espoused to a man whose name was Joseph, of the house of David; and the virgin's name was Mary.  And the angel came in unto her, and said, Hail, thou that art highly favoured, the Lord is with thee: blessed art thou among women... And, behold, thou shalt conceive in thy womb, and bring forth a son, and shalt call his name Jesus (Yeshua)." (Luke 1:26-31). 

(Dreams & Visions) - The Bible relates the story of Joseph, Mary's espoused husband, "But while he thought on these things, behold, the angel of the Lord appeared unto him in a dream, saying, Joseph, thou son of David, fear not to take unto thee Mary thy wife: for that which is conceived in her is of the Holy Ghost" (Matthew 1:20).

(Circumstances) - God speaks on many occasions to us through the events of our lives.  God spoke to the people of the world about the sin of homosexuality in His judgment and destruction upon the cities of Sodom and Gomorrah (Genesis 19:24-25).  However, God's speaking to man through circumstances does not always have to be destructive.  For example, God has shown Israel over and over what happens whenever their works please Him.  They live in a land flowing with milk and honey and, it should be noted, this also holds true for all who believe in Yeshua. 

 (Impressions) - God can place an impression upon a persons heart, through and by the Holy Ghost, of some action He wants the individual to take.  After Jesus was baptized, "... being full of the Holy Ghost returned from Jordan, and was led by the Spirit into the wilderness" (Luke 4:1). 

Therefore, it is very important for believers today to come to know and understand when the Lord is speaking to them.  Jesus taught, "But he that entereth in by the door is the shepard of the sheep.  To him the porter openeth,; and the sheep hear his voice: and he calleth his own sheep by name, and leadeth them out.  And when he putteth forth his own sheep, he goeth before them, and the sheep follow him: for they know his voice.  And a stranger will they not follow, but will flee from him; for they know not the voice of strangers" (John 10:2-5).