Because these animals do not the have biological vocal chord capable of making human vocalizations, the language centers of the brain, nor the understanding of the vocabulary and grammar of ancient Hebrew, I can only assume the communication was by telepathic means of thought/concept… not full grammatically correct Hebrew spoken sentences.

Genesis 3:1-4 Now the serpent was more crafty than any of the wild animals the Lord God had made. He said to the woman, “Did God really say, ‘You must not eat from any tree in the garden’?”

 The woman said to the serpent, “We may eat fruit from the trees in the garden, ³ but God did say, ‘You must not eat fruit from the tree that is in the middle of the garden, and you must not touch it, or you will die.’”

 “You will not certainly die,” the serpent said to the woman. “For God knows that when you eat from it your eyes will be opened, and you will be like God, knowing good and evil.”

Numbers 22:22-30 But God was very angry when he went, and the angel of the Lord stood in the road to oppose him. Balaam was riding on his donkey, and his two servants were with him. When the donkey saw the angel of the Lord standing in the road with a drawn sword in his hand, it turned off the road into a field. Balaam beat it to get it back on the road.

Then the angel of the Lord stood in a narrow path through the vineyards, with walls on both sides. When the donkey saw the angel of the Lord, it pressed close to the wall, crushing Balaam’s foot against it. So he beat the donkey again.

Then the angel of the Lord moved on ahead and stood in a narrow place where there was no room to turn, either to the right or to the left. When the donkey saw the angel of the Lord, it lay down under Balaam, and he was angry and beat it with his staff. Then the Lord opened the donkey’s mouth, and it said to Balaam, “What have I done to you to make you beat me these three times?”

Balaam answered the donkey, “You have made a fool of me! If only I had a sword in my hand, I would kill you right now.” 

The donkey said to Balaam, “Am I not your own donkey, which you have always ridden, to this day? Have I been in the habit of doing this to you?”

“No,” he said.

I Include the raven story as telepathic speaking as the ravens were spiritually directed by God, a type of non verbal communication between Gods spirit to the thoughts/minds of the birds.

I King 17:2-6 Then the word of the Lord came to Elijah:  “Leave here, turn eastward and hide in the Kerith Ravine, east of the Jordan.  You will drink from the brook, and I have directed the ravens to supply you with food there.”

So he did what the Lord had told him. He went to the Kerith Ravine, east of the Jordan, and stayed there. The ravens brought him bread and meat in the morning and bread and meat in the evening, and he drank from the brook.