"And they said to Moses: You speak with us and we will hear" (Exodus 20:16). This tells that they had the strength to receive only the Ten Commandments, as it is said "If we hear any more" and so forth (Deuteronomy 5:22), "I will not hear again the voice" and so forth, but rather "You go near and hear" (Deuteronomy 5:24). From that hour Israel merited that prophets would be raised up from among them, as it is said "I will raise up a prophet for them" (Deuteronomy 18:18): a prophet I am destined to raise up from among them; but they anticipated it by their own merit, as it is said "And the LORD said to me: They have done well" and so forth (Deuteronomy 18:17). Happy are people whose words the Omnipresent affirmed. And so it says "And the LORD said: I have pardoned according to your word" (Numbers 14:20). And so it says "The daughters of Zelophehad speak rightly" (Numbers 27:7), "The tribe of the sons of Joseph speak rightly" (Numbers 36:5). "Who would give that they had such a heart" (Deuteronomy 5:26): were it possible to remove the angel of death I would remove him, but the decree has already been decreed. Rabbi Yose says: on this condition Israel stood before Mount Sinai, that the angel of death should have no power over them, as it is said "I said, you are godlike beings" and so forth (Psalms 82:6); you ruined your deeds, "yet you shall die like men" (Psalms 82:7). "And they said to Moses: You speak with us": the Holy One, blessed be He, heard the voice of Israel and it was pleasing to Him. He sent for Michael and Gabriel, and they seized Moses by his two hands against his will and brought him near to the thick darkness, as it is said "And Moses drew near to the thick darkness" (Exodus 20:18). It is not written here "he approached" but "he was drawn near."
Israel Asks Moses to Speak and Earns the Gift of Prophets
Yalkut Shimoni on Torah 301:1
(שמות כ טז-יח) וַיֹּאמְרוּ אֶל מֹשֶׁה דַּבֶּר אַתָּה עִמָּנוּ וְנִשְׁמָעָה. מַגִּיד שֶׁלֹּא הָיָה לָהֶן כֹּחַ לְקַבֵּל אֶלָּא עֲשֶׂרֶת הַדִּבְּרוֹת, שֶׁנֶּאֱמַר (דברים ה, כב) "אִם יֹסְפִים אֲנַחְנוּ" וְגוֹ'. (שם יח, טז) "לֹא אֹסֵף לִשְׁמֹעַ אֶת קוֹל" וְגוֹ', אֶלָּא "קְרַב אַתָּה וּשֲׁמָע". מֵאוֹתָהּ שָׁעָה זָכוּ יִשְׂרָאֵל לְהַעֲמִיד מֵהֶן נְבִיאִים, שֶׁנֶּאֱמַר (שם יח, יח) "נָבִיא אָקִים לָהֶם", נָבִיא אֲנִי עָתִיד לְהַעֲמִיד מֵהֶן, אֶלָּא שֶׁקִּדְּמוּ הֵן בִּזְכוּתָן, שֶׁנֶּאֱמַר (שם, יז) "וַיֹּאמֶר ה' אֵלַי הֵיטִיבוּ" וְגוֹ', אַשְׁרֵי בְּנֵי אָדָם שֶׁהַמָּקוֹם הוֹדָה לְדִבְרֵיהֶם. וְכֵן הוּא אוֹמֵר (במדבר יד, כ) "וַיֹּאמֶר ה' סָלַחְתִּי כִּדְבָרֶךָ". וְכֵן הוּא אוֹמֵר, "כֵּן בְּנוֹת צְלָפְחָד דֹּבְרֹת", (שם לו, ה) "כֵּן מַטֵּה בְנֵי יוֹסֵף דֹּבְרִים". "מִי יִתֵּן וְהָיָה לְבָבָם זֶה לָהֶם", אִלּוּ אֶפְשָׁר לְהַעֲבִיר מַלְאַךְ הַמָּוֶת הָיִיתִי מַעֲבִירוֹ, אֶלָּא שֶׁכְּבָר נִגְזְרָה גְּזֵרָה. רַבִּי יוֹסֵי אוֹמֵר, עַל תְּנַאי כָּךְ עָמְדוּ יִשְׂרָאֵל לִפְנֵי הַר סִינַי, שֶׁלֹּא יִשְׁלֹט בָּהֶן מַלְאַךְ הַמָּוֶת, שֶׁנֶּאֱמַר (תהלים פב, ו) "אֲנִי אָמַרְתִּי אֱלֹהִים אַתֶּם" וְגוֹ' חִבַּלתֶּם מַעֲשֵׂיכֶם, (שם) "אָכֵן כְאָדָם תְּמוּתוּן". וַיֹּאמְרוּ אֶל מֹשֶׁה דַּבֶּר אַתָּה עִמָּנּוּ, שָׁמַע הַקָּדוֹשׁ בָּרוּךְ הוּא קוֹלָן שֶׁל יִשְׂרָאֵל וְעָרַב עָלָיו, שָׁלַח לְמִיכָאֵל וּלְגַבְרִיאֵל וְאָחֲזוּ בִּשְׁתֵּי יָדָיו שֶׁל מֹשֶׁה שֶׁלֹּא בִּרְצוֹנוֹ, וְהִגִּישׁוּהוּ אֶל הָעֲרָפֶל, שֶׁנֶּאֱמַר וּמֹשֶׁה נִגַּשׁ אֶל הָעֲרָפֶל, גָּשׁ אֵין כְּתִיב כָּאן אֶלָּא נִגַּשׁ.