Difficult yes, impossible... no!
Yes you can do so by reading body language, but to truly read someones mind, takes a lot of psychic practice. The only way I know of to improve your psychic abilities is to start down the path of qigong and kuji-in. Practice opening your third eye. Read some of my spells for psychic learning.
Psychology goes a long way, as does knowing the person you're reading, togethered with some intuition. In my experience, telapathy isn't as much 'reading thoughts' as much as an experience of 'mind fusion' that happens between two consenting people. In addition, only love will let you in :)