Matthew 17:5
3 Then Moses and Elijah also appeared before them, talking with him. 4 So Peter said to Jesus, “Lord, it is good for us to be here. If you want, I will make three shelters—one for you, one for Moses, and one for Elijah.” 5 While he was still speaking, a bright cloud overshadowed them, and a voice from the cloud said, “This is my one dear Son, in whom I take great delight. Listen to him!” 6 When the disciples heard this, they were overwhelmed with fear and threw themselves down with their faces to the ground. 7 But Jesus came and touched them. “Get up,” he said. “Do not be afraid.”
2 Baruch 22:2
Syriac Apocalypse of Baruch1 And it came to pass after these things that lo! the heavens were opened, and I saw, and power was given to me, and a voice was heard from on high, and it said unto me: 2 'Baruch, Baruch, why art thou troubled? 3 He who travels by a road but does not complete it, or who departs by sea but does not arrive at the port, can he be comforted? 4 Or he who promises to give a present to another, but does not fulfill it, is it not robbery?
Notes and References
"... The Gospel of Matthew contains two passages where the voice from heaven reiterates what it had previously announced; compare Matthew 3:17 and 17:5 ... A few commonly known (Jewish) texts include: Daniel, 1 Enoch, 4 Ezra, and the Sibylline Oracles. Some of its predominant themes include the problem of evil in the world, reward and punishment after death, the heavenly Temple, and the divine throne room. Though he does not expound, D.S. Russell opined that every reference to heavenly voices in apocalyptic literature is the rabbinic bat kol. One could infer that factors like same geographical location and time period could have contributed to the similarities in terminology and leitmotifs. My intention here is to draw out common themes and descriptive language so as to corroborate the view that apocalyptic literature bore influence upon the rabbis. The texts to be consulted will be the pseudepigrapha of 2 Baruch, 3 Baruch, and 4 Ezra ..."
Grullon, John D. Heavenly Voice, Earthly Echo: Unraveling the Function of the Bat Kol in Rabbinic Writings (pp. 15, 66-67) Florida International University, 2016