וַנִּצְעַ֤ק אֶל־יְהוָה֙ וַיִּשְׁמַ֣ע קֹלֵ֔נוּ וַיִּשְׁלַ֣ח מַלְאָ֔ךְ וַיֹּצִאֵ֖נוּ מִמִּצְרָ֑יִם וְהִנֵּה֙ אֲנַ֣חְנוּ בְקָדֵ֔שׁ עִ֖יר קְצֵ֥ה גְבוּלֶֽךָ׃
и когда мы возопили к Господу, Он услышал наш голос и послал ангела, и вывел нас из Египта; и вот, мы в Кадесе, городе на краю твоей границы.
Rashi
וישמע קלנו HE HEARD OUR VOICE — through the blessing with which our father, Jacob, had blessed us — “the voice is Jacob’s voice” (Genesis 27:22), because whenever we cry we are answered (Midrash Tanchuma, Beshalach 9 on בשלח).
Rabbeinu Bahya
וישמע את קולנו, “He listened to our voice (prayer).” This was a reference to the power of prayer i.e. הקול קול יעקב, “the voice is the voice of Yaakov,” bequeathed by Yitzchak to his son Yaakov (Genesis 27,22).
Siftei Chakhamim
Through the blessing … “The voice is the voice of Yaakov.” From the answer that the king of Edom gave to Moshe we see that Moshe said to him, “Through the blessing…” Meaning: The Torah writes shortly (v.18), “Lest I go out against you with the sword.” There Rashi explains the reason that he responded, “You pride yourselves…” This proves that Moshe [first] said to him, “Through the blessing…” (Devek Tov) For if not so, when Moshe said, “We cried out to Hashem…” he should merely have said, “Hashem heard and He sent…” Why did he mention “our voice”? Rather, it was “through the blessing…”
Rashi
מלאך A MESSENGER (or an angel) — This was Moses; from this we may learn that the prophets are termed “angel”; so, too, it says, (II Chronicles 36:16) “And they grieved the angels (מלאכי) of God” (Leviticus Rabbah 1:1).