The Bible tells us that the saints in Heaven absolutely CAN see and hear us:
Hebrews 12:1
Therefore, since we are surrounded by so great a cloud of WITENESSES, let us rid ourselves of every burden and sin that clings to us and persevere in running the race that lies before us while keeping our eyes fixed on Jesus, the leader and perfecter of faith.
So, because we are surrounded by these witnesses in heaven, we must behave accordingly. They see and hear - NOT on their own, but through Christ.
EVERY ability they have in their glorifies state is through Christ.
In the Parable of the Rich Man - we see that Abraham was able to communicate with the Rich Man in Hades (Luke 16:19-31).
At the Transfiguration - we see that Moses and Elijah appeared to Jesus and conversed with Him (Matt.17:1–8, Mark 9:2–13, Luke 9:28–36)