Nope, you can't read someone's thoughts without magic and as with most things if it's not possible without then you can't do it with magic either. The closest you can get to reading another persons mind is simply observing body language and facial expressions which you certainly don't need a spell for.
Now I highly suspect that because I have used the words "not possible" someone will jump on me with a "everything's possible if you just believe in it enough" If anyone is tempted by that then I think we can agree at the very least to say that based on current knowledge and technology it is not currently possible to decipher the thoughts of another being.
There are computers which have done just that, more or less read a person's mind. Current knowledge and technology certainly agree that it is possible and near future tech can certainly be created to do just that. If we in the so-called magick community aren't open-minded, its no wonder science has overtaken us and most people think we are idiots and/or think we are crazy. Just give me one good reason mindreading is not possible. Emphasis on the good reason part. And to the OP, I know none that would work. Unfortunately for you, that's a skill you will have to develop the long way.
Actual mind reading, in my opinion, doesn't happen, yet. Yes, tech has come a long way, (I watch those shows too) but not true mind reading like knowing the words to a thought of another person. Technology can measure and map the brain while asking the patient to think of certain things. They can make a thought fly one of those toy helicopters in one show I watched, but the guy was wearing head gear connected to a computer. I think its very fascinating. They want to be able to use the brain waves to make, say, a disabled person be able to feel his legs so they can walk again. Its going to happen. I mean look at Steven Hawking. He can write on computer just by looking at the letters on a screen keyboard. That is awesome!!! And then there is my family, who knew something bad was about to happen. They were calling everybody in the family to find what was wrong. It ended up being me and my son. Our house burned to the ground, and my son's bed was already on fire when a friend went in to save him. We are gifted people. Then there is the point that I can send thoughts. I used to call my kids in for supper just by thinking about it. I had no control yet as to how I was doing it, but it happened more times than not. Cool, heh?
But to actually 'read' someone's mind; I don't think its possible yet. And I say yet, because I know it is coming. Wondering how much trouble that will be...lol Blessed Be...
For a computer to fully and actually read the mind of a person requires at least half the complexity of the human mind. That is a huge problem. But it must be remembered, at the end of the day, thoughts are electrical in nature.
I think I've done it before, though I'm horribly out of practice. I learned some basic telepathy a long time ago and once even did some exercises where I'd guess a number someone was thinking. I'm sure it's possible, and empaths can definitely pick up emotions without telepathy, but I'd only recommend learning this if you'd find use for it in your life.