All of our senses are rooted in touch. As you learn to master your sense of touch and expand your universal awareness, you can gain the ability to learn the nature of how the interaction of any sense functions.
The first way i listed to you is the best way to do this because it gets to the heart of the matter instead of just learning one sense alone but if you want to learn just this sense, there is another way that may prove to be easier for some. In order to do what you speak of, you must first be able to sense your own energy and feel your own essence. Once you can see this in yourself, you will see it in all else.
Of course this is much more difficult then it sounds which is why it may be easier to just start with the basics and then work your way up.