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.
I personally havent experianced anything alon the lines of mind reading but if someone is projecting than its oossible to pick up on what they are thinkin I you are open to it and dont over think it,
I'm afraid I must respectfully disagree Sue, my personal experiences directly contradict your statement. I've seen many people with inherent abilities, but I've never seen any "gifts" that could not be replicated somehow with magic after some practice and experimentation.
ThoraStorm, I have done something similar to what you've described. I can astral project myself into the collective consciousness and communicated with what I presume to be people's subconscious. While there, I have been able to pick up on what people are thinking.
In this book I read called Nocturnal Witchcraft, it has some basics of witchcraft and goes into sensing exercises to get started on 'mind reading.' I don't think you can literally hear theyr thoughts, but you can pick up the 'thought waves,' (if you wanna call it that) and get a basic idea or feeling of what's goin on in their head. It helps a lot though to just be good at reading body language.
I personally don't believe mind reading is possible, but there is an ability called telepathy which let's you share thoughts, pictures, colours, sounds with the person you want to send them to, they must be willing to receive it though. Telepathy is a uncommon phychic ability, what I mean by that is that telepathy is rare these days. Telepathy is the closet you're going to get.