How can We Know God?

Knowing God is understandably a major problem for creatures like ourselves.  We are the bottom rung of rational creatures, heavily linked to our physicality that narrows the extension of our minds.  Nearly all of our knowledge is derived through our sensory systems, yet God is not subject to sensory inspection.  What color is God?  Does God smell of citrus or hickory wood smoke?  How does God’s skin feel, furry or scaly or feathery?  None of these questions make any sense to us, because we know that God is a spirit, a wholly immaterial being.  Yet our primary mode of knowledge is sensory, rooted in physicality.  So, how can creatures like ourselves possibly know God?