they will hear His voice.
And they do even to this day, should I repeat myself the new covenant started at pentecost whe nte hHoly Spirit fell upon all the believers. Jesus, excpet for that short time in hades or hell has always being speaking to man even to this day, its just that people even christians wont listen.
As He says
Joh 10:26 But ye believe not, because ye are not of my sheep, as I said unto you.
Joh 10:27 My sheep hear my voice, and I know them, and they follow me:
But one cant blame you for your misunderstaing,christianty as a rekligion has done little to send to people to Christ, its always held onto them and wont let them go.
As for books, well there is Enoch.
Jud 1:14 And Enoch also, the seventh from Adam, prophesied of these, saying, Behold, the Lord cometh with ten thousands of his saints,
Jud 1:15 To execute judgment upon all, and to convince all that are ungodly among them of all their ungodly deeds which they have ungodly committed, and of all their hard speeches which ungodly sinners have spoken against him.