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”Where in the Bible does someone initiate communication with an angel, or any other spirit, through prayer, and not have that condemned? “

Your view of angels seems, well, unbiblical and detached to me, as if they were very far from us, or as if they don’t see and hear us. Look, even we dumb humans can communicate with tens of millions in a flash with our mere earthly technologies. Do you really think these blessed angels have less communication capacity than plodding humans do?

In the Psalms, you and I initiate communication with angels, we address them directly:

Psalm 103:20
Bless the Lord, O you his angels, you mighty ones who do his bidding, obedient to his spoken word.

We ask (invite) (pray) them to join us in blessing and praising God:

Psalm 148:2
Praise him, all his angels; praise him, all his host!

If we weren’t to address Angels, God wouldn’t have us doing it in the Psalms. And in many dozens of Christmas carols, sung in your church I suppose and mine, where we ask the Angels to “wing you way through all the earth” “join us in chorus raising,” etc. etc.

We have present with us Guardian Angels, sent to serve those who are to be saved.

Hebrews 1:14
Are not all angels spirits in the divine service, sent to serve for the sake of those who are to inherit salvation?

We are always in the presence of angels: they observe us and know what we're doing.

Luke 15:10
Just so, I tell you, there is joy in the presence of the angels of God over one sinner who repents.”
1 Corinthians 4:9
For I think that God has exhibited us apostles as last of all, as though sentenced to death, because we have become a spectacle to the world, to angels and to mortals.
1 Timothy 5:21 In the presence of God and of Christ Jesus and of the elect angels, I warn you to keep these instructions.

It would be an interesting question, I think, whether we can ever NOT communicate with angels: that is, whether we ever say or do anything that they don’t know.

I would argue that neither the good angels nor the bad can read our minds ----but they can form a very shrewd opinion of what we’re thinking, simply because of their intelligence and centuries of experience. But Satan couldn’t read Christ’s mind: that makes me suppose that he couldn’t read our minds either, and neither can the good angels.

But other than that, I think we are in constant communication with angels. Even you are, whether you realize it or not!

If that’s the case, then what kind of “spiritualism” are we forbidden? It’s pretty straightforward:

We are forbidden any contact with fallen angels (demons.)
We are forbidden to try to obtain anything along the lines of foreknowledge, power, success, "luck" or personal advantage from an angel. This is what is meant by superstition, charms, spells, conjuringn fortune-telling, and the like.
We are forbidden to regard an angel as a kind of independent operator, that is, acting on his own will apart from God.
We are forbidden to request or covet extraordinary mystical experiences, since we are so prone to deception, Satan might appear to us as an angel of light.

Those saints who HAVE had mystical experiences --- not because they craved or coveted them but by the will of God --- all counsel great caution and skepticism. If approached by a spirit, we should challenge it by saying something like, “All praise to Jesus Christ, our Lord and our God.” This general sends the demons snarling away. They also react negatively to objects which have been consecrated to God, like crosses and Bibles. You can see that by the way they recoil from blessed objects during exorcisms.

That about covers it. May the Angels protect you, boogieman!