Telepathy, like empathy or any other psychic ability, Can be learned through rigorous practice and intense meditation.
There have been articles on websites listing exercises by psychics, that they've found useful. Ultimatly you woln't be able to totally plumb the depths of anothers mind, but you could be able to share pictures or thoughts with somebody/people if you work hard enough at it.
sit down back to back with a friend have them visualize you and you visualize them and then you think of a color and focus on the color.they should be able to tell you what color you were focusing on. The more it works the further apart you move.
this worked for me. I wish you luck.