There are different spiritual - psychic - abilities. And several ways for obtain sach an abilities.
The basis is a meditation. But it depends how high are you looking at. Whether you'll be happy with some telepathy or clairvoyance, or or whether you are looking for a higher powers.
For a lower powers is sufficient a mind control. See for example The mind power by William Walker Atkinson.
When you want a higher powers so yoga is necessary. But not hathayoga - only meditations.
See Sat chakra nirupana by John Woodroffe (A. Avalon), Shiva samhita, Gheranda samhita and similar. Or Chinese Taoists spiritual alchemy - The secret of the golden flower, Translantion by Richard Willhelm. But it could a years of daily meditations.
All those books are free on the net.