FLT CREW OF BE40 CROSSED ACTIVE RWY 6/24 AT TEB WITHOUT CLRNC.

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WE TAXIED OUT OF THE FBO AT THE S END OF THE FIELD; TAXIING N ON THE TXWY PARALLEL TO THE RWY 1/19. WE WERE TOLD TO TAXI TO RWY 6; HOLD SHORT OF RWY 6. THE CAPT WAS TAXIING THE ACFT FROM THE L SEAT. I WAS DOING THE CHKLIST AND THE RADIOS. THE CAPT MISSED HIS TURN TO GO TO RWY 6; BUT DIDN'T NOTICE -- NOR DID I. AS WE APCHED RWY 6; THE CAPT CALLED 'CLR L;' AND I RESPONDED 'CLR R.' NEITHER ONE OF US REALIZED WE WERE ABOUT TO CROSS AN ACTIVE RWY. WE CROSSED RWY 6 AT MIDFIELD. WHEN WE GOT TO THE OTHER SIDE; GND CTL CALLED AND ASKED WHY WE CROSSED THE RWY. I ASKED THEM TO REPEAT -- NOT BELIEVING WHAT I JUST HEARD. THE CAPT THEN ANSWERED GND CTL; AND HE SAID HE THOUGHT HE WAS CLRED TO RWY 19. GND CTL CORRECTED HIM; AND SAID IT WAS RWY 6 WE WERE CLRED TO. NO OTHER ACFT WERE INVOLVED. I THINK THE CAPT HEARD RWY 19 AND I HEARD RWY 6 AS OUR CLRNC. WE SHOULD HAVE COMMUNICATED BETTER WITH EACH OTHER. ALSO; THE CAPT WASN'T WEARING A HEADSET; BUT LISTENING TO THE SPEAKER. THIS MAY ALSO HAVE HINDERED COMS. GND CTL MADE NO ATTEMPT TO CONTACT US BEFORE WE CROSSED RWY 6. ONLY AFTER WE CROSSED DID THEY CALL US. GND SHOULD HAVE CALLED US WHEN WE MISSED THE FIRST TURN AND CALLED US BEFORE WE CROSSED THE RWY. BETTER COM COULD HAVE PREVENTED THE ENTIRE SIT. SUPPLEMENTAL INFO FROM ACN 577148: BECAUSE OF INATTENTIVENESS AND FAMILIARITY; I MISSED MY L TURN ON GOLF AND CONTINUED TO TAXI TO RWY 24. THE TWR KIDDED US ABOUT OUR ERROR PRIOR TO TKOF; WE WERE NOT ASKED TO CALL THEM ON THE LAND LINE.