(ו) עֲשָׂרָה דְבָרִים נִבְרְאוּ בְעֶרֶב שַׁבָּת בֵּין הַשְּׁמָשׁוֹת, וְאֵלּו הֵן, פִּי הָאָרֶץ, וּפִי הַבְּאֵר, וּפִי הָאָתוֹן, וְהַקֶּשֶׁת, וְהַמָּן, וְהַמַּטֶּה, וְהַשָּׁמִיר, וְהַכְּתָב, וְהַמִּכְתָּב, וְהַלּוּחוֹת. וְיֵשׁ אוֹמְרִים, אַף הַמַּזִּיקִין, וקְבוּרָתוֹ שֶׁל משֶׁה, וְאֵילוֹ שֶׁל אַבְרָהָם אָבִינוּ. וְיֵשׁ אוֹמְרִים, אַף צְבָת בִצְבָת עֲשׂוּיָה:
(6) Ten things were created on the eve of the [first] Sabbath at twilight, And these are they: [1] The mouth of the earth [that swallowed Korach in Numbers 16:32], [2] The mouth of the well [that accompanied the Israelites in the Wilderness in Numbers 21:17], [3] The mouth of the donkey [that spoke to Balaam in Numbers 22:28–30], [4] The rainbow [that served as a covenant after the Flood in Genesis 9:13], [5] The manna [that God provided the Israelites in the Wilderness in Exodus 16:4–21], [6] The rod [of Moses], [7] The shamir [worm that helped build the Temple without metal tools], [8] the letters, [9] the writing, and [10] the tablets [of the Ten Commandments]. ... And some say: Also tongs made with tongs.
(1) There were three features possessed by the prophecy of Balaam that were absent from that of Moses: 1) Moses did not know who was speaking with him, whereas Balaam knew who was speaking with him; 2) Moses did not know when the Holy One of Blessing would speak with him, whereas Balaam knew...3) Balaam spoke with God whenever he pleased...Moses, however, did not speak with God whenever he wished.
Bamidbar Rabbah 14:1
That which happened to Balaam on the way, and the speaking of the ass, took place in a prophetic vision, since further on, in the same account, an angel of God is introduced as speaking to Balaam.
Maimonides, Guide for the Perplexed, 2:42
[At times a person is inspired] when he speaks of science, or composes hymns, exhorts his fellow-men, discusses political and theological problems; all this he does while awake, and in the full possession of his senses. Such a person is said to speak by the holy spirit. David composed the Psalms, and Solomon the Book of Proverbs, Ecclesiastes, and the Song of Solomon by this spirit; also Daniel, Job, Chronicles, and the rest of the Hagiographa were written in this holy spirit; therefore they are called ketuvim, i.e., written by men inspired by the holy spirit. ... You must know that Balaam likewise belonged to this class, when he was good; this is indicated by the words, "And God put a word in the mouth of Balaam" (Num. xxiii. 5), i.e., Balaam spoke by divine inspiration; he therefore says of himself, "Who hears the words of God," etc. (ibid. xxiv. 4)
Ibid., 2:45