Did God talk to the disciples?

Yes, since Jesus Christ is Himself God, He frequently did. Also, on the mount of transfiguration God spoke, as well as at Jesus' Baptism, effectively telling the disciples to listen to Jesus, His beloved Son. This lines up with what Jesus Himself taught in a number of places, that not only was He bringing a message 'from' God but that His message was the very Words of God Himself.