Finally, all of you, be like-minded and sympathetic, love as brothers, be tenderhearted and humble. Do not repay evil with evil or insult with insult, but with blessing, because to this you were called so that you may inherit a blessing. For,

“Whoever would love life

and see good days

must keep his tongue from evil

and his lips from deceitful speech.

He must turn from evil and do good;

he must seek peace and pursue it.

For the eyes of the Lord are on the righteous,

and His ears are inclined to their prayer.

But the face of the Lord is against

those who do evil.”

Who can harm you if you are zealous for what is good?

1 Peter 3: 8-13

So, the answer to the title question "How to incline God's ears to our prayers?" is: 

Turn from evil. Do good. Seek peace. Pursue it. 

Simple is it not?