ESP falls into four main categories Telepathy, Clairvoyance, Precognition, and out of body experiences. Telepathy is the ability to know what someone is thinking, in other words communication between minds. This link has info on all aspects of ESP, including telepathy. Clairvoyance is the knowledgeof something that has happened when there is no reason for one to be aware of it's occurance. An example of this is having a revelation that your puppy Fido has suddenly moved onto dog heaven.
Precognition is the ability to be aware of the future.
This site has a really cool experiment for precognition. You view your own body and are able to watch your own actions. These type of experiences usually occur when someone has a near death experience. This first link is people who are truely into out of body experiences and yearn to have more.