The Bible is full of accounts of people who God interacted with directly. Adam had daily contact before he disobeyed. Noah, Abraham, Issaic, Jacob, Joseph, Moses, Joshua, numerous judges, Kings Saul, David, Solomon, dozens of kings and prophets, and the Apostles to name a few. That's in fact where the Bible came from - such folks writing down the accounts of their encounters.
Above all, you must understand that no prophecy of Scripture comes from the prophet’s own interpretation. For no prophecy was ever brought about through human initiative, but men spoke from God as they were carried along by the Holy Spirit. - 2 Peter 1:21