I cited Seven Gates of Righteous Knowledge by Rabbi Weiner and Dr. Schulman, p 75. The context is the Torah Law for Gentiles. Unlike Jews, Noahides have no set liturgy which they are obligated to follow. Rather, each individual can pray in his own words, in a language that he understands. In support of this lesson, the authors cite the story from the Talmud in Tractate Taanit 20a.