I know my parents love me because they show it in everyday things, but the only time I've ever "heard" my parents tell me they loved me was when I was a few years ago when I accidentally left my poems on queue to be printed on my dad's printer and he read them (he wasn't supposed to, they were pretty sad, and written when I was at my worst). I was sort of sleeping and he came in my room, and I could hear him sort of crying, and so he grabbed the first thing he could find to write on (a pizza box, interestingly enough), and wrote "your poems are beautiful, [my name]. I love you very much, son.", and left the room.
He doesn't know this, but I used a box cutter to cut out that part of the box and now it's glued to the side of my book cabinet.
However, I do believe that I lack certain skills in the love department (showing love without appearing to be over the top, or not enough). I don't resent them at all for it, it's just how they were raised too, and they show their love in different ways regardless.