Speaking should be an exchange.
Most of us think as writers when preparing for a talk and, in turn, produce an experience for the listener that feels strangely aloof. That may be because writing is essentially one-way - the writer transmits and the reader receives.
Speaking should be an exchange:
1) The speaker transfers a sentence with their voice, face and hands.
2) The listener absorbs and processes the sentence.
3) The listener transfers a reaction: a laugh, a nod, a curious look, or a shifting of their body, a poker-face, etc.
4) The speaker absorbs and processes the reaction.
5) The speaker is altered and alters their next sentence (not necessarily the words but possibly their expression).
This is the magic of speaking - the exchange that cannot happen with written transmission.