The only kind of interaction seems to have been Manwe 'calling upon Eru for guidance'. I do not think this is explained anywhere else. Either a 'link of minds' between Eru and his steward can be imagined, or a system of portents. Anyway, he need not have been physically present to be communicated with.
As for those passages speaking of Eru's appearance outside Ea, such as in the Ainulindale, we might take them to be mythologically altered by the Ainur, trying to put into words which cannot be comprehended. Adanel's Tale might or might not take too great liberties there in assigning an actual voice to Eru.
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