Mama Mary heard and Obeyed. She had an angel appear to her.

“Then Mary said, “Behold the maidservant of the Lord! Let it be to me according to your word.” And the angel departed from her. Luke 1:38 NKJV

How about us who did not have this encounter? Did you know that we can hear God without an angel? We can hear God’s word. His word is written in the bible. The Holy Spirit makes His word come alive.

For the word of God is living and powerful, and sharper than any two-edged sword, piercing even to the division of soul and spirit, and of joints and marrow, and is a discerner of the thoughts and intents of the heart. Hebrews 4:12 NKJV